From 290464954c592c03497c015d45e08c9c54c233f2 Mon Sep 17 00:00:00 2001
From: Aaron Marburg <amarburg@uw.edu>
Date: Wed, 4 Sep 2024 12:59:26 -0700
Subject: [PATCH 1/7] Move apt-gets up in Dockerfile

---
 .docker/Dockerfile | 66 ++++++++++++++++++++++++----------------------
 1 file changed, 34 insertions(+), 32 deletions(-)

diff --git a/.docker/Dockerfile b/.docker/Dockerfile
index 85540dee..277687a0 100644
--- a/.docker/Dockerfile
+++ b/.docker/Dockerfile
@@ -1,11 +1,10 @@
+# syntax=docker/dockerfile:1.7-labs
+# Above must be the first line in Dockerfile.  It enables the "copy --parents" syntax
 ARG ROS_DISTRO=rolling
 FROM ros:$ROS_DISTRO-ros-base AS ci
 
 ENV DEBIAN_FRONTEND=noninteractive
 
-WORKDIR /root/ws_blue
-COPY . src/blue
-
 # Install apt packages needed for CI
 RUN apt-get -q update \
     && apt-get -q -y upgrade \
@@ -27,11 +26,17 @@ RUN apt-get -q update \
     && apt-get clean -y \
     && rm -rf /var/lib/apt/lists/*
 
-# Install all ROS dependencies for _just_ blue
-# (we have not imported other repos from .repos files)
+# Pull in _just_ the */package.xml files from blue's subdirectories
+# Install rosdeps for all of those sub-packages
+WORKDIR /root/ws_blue/src/blue
+COPY --parents */package.xml .
+COPY blue.repos .
+WORKDIR /root/ws_blue
+
 RUN apt-get -q update \
     && apt-get -q -y upgrade \
     && rosdep update \
+    && vcs import src < src/blue/blue.repos \
     && rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --as-root=apt:false \
     && rm -rf src \
     && apt-get autoremove -y \
@@ -48,6 +53,29 @@ RUN apt-get -q update \
 #
 FROM ci AS robot
 
+# Install gstreamer, plus geographiclib-tools for install_geographiclib_datasets
+RUN apt-get -q update \
+    && apt-get -q -y upgrade \
+    && apt-get -q install --no-install-recommends -y \
+    python3-gi \
+    gstreamer1.0-tools \
+    gir1.2-gstreamer-1.0 \
+    gir1.2-gst-plugins-base-1.0 \
+    gstreamer1.0-plugins-good \
+    gstreamer1.0-plugins-ugly \
+    gstreamer1.0-plugins-bad \
+    gstreamer1.0-libav \
+    libgstreamer1.0-dev \
+    gstreamer1.0-gl \
+    libgstreamer-plugins-base1.0-dev \
+    geographiclib-tools \
+    && apt-get autoremove -y \
+    && apt-get clean -y \
+    && rm -rf /var/lib/apt/lists/*
+
+# Install MAVROS dependencies
+RUN wget -O - https://raw.githubusercontent.com/mavlink/mavros/ros2/mavros/scripts/install_geographiclib_datasets.sh | sh
+
 #
 # Ubuntu 24.04 "Noble", which is used as the base image for
 # jazzy and rolling images, now includes a user "ubuntu" at UID 1000
@@ -76,12 +104,6 @@ ENV VIRTUAL_ENV=/home/$USERNAME/.venv/blue
 RUN python3 -m venv --system-site-packages --symlinks $VIRTUAL_ENV
 ENV PATH="$VIRTUAL_ENV/bin:$PATH"
 
-# Install MAVROS dependencies
-WORKDIR /home/$USERNAME
-RUN wget https://raw.githubusercontent.com/mavlink/mavros/ros2/mavros/scripts/install_geographiclib_datasets.sh \
-    && chmod +x install_geographiclib_datasets.sh \
-    && sudo ./install_geographiclib_datasets.sh
-
 ENV USER_WORKSPACE=/home/$USERNAME/ws_blue
 WORKDIR $USER_WORKSPACE
 COPY --chown=$USER_UID:$USER_GID . src/blue
@@ -89,25 +111,6 @@ COPY --chown=$USER_UID:$USER_GID . src/blue
 # Install the Python requirements that aren't available as rosdeps
 RUN python3 -m pip install -r $(pwd)/src/blue/requirements-build.txt
 
-# Install gstreamer
-RUN sudo apt-get -q update \
-    && sudo apt-get -q -y upgrade \
-    && sudo apt-get -q install --no-install-recommends -y \
-    python3-gi \
-    gstreamer1.0-tools \
-    gir1.2-gstreamer-1.0 \
-    gir1.2-gst-plugins-base-1.0 \
-    gstreamer1.0-plugins-good \
-    gstreamer1.0-plugins-ugly \
-    gstreamer1.0-plugins-bad \
-    gstreamer1.0-libav \
-    libgstreamer1.0-dev \
-    gstreamer1.0-gl \
-    libgstreamer-plugins-base1.0-dev \
-    && sudo apt-get autoremove -y \
-    && sudo apt-get clean -y \
-    && sudo rm -rf /var/lib/apt/lists/*
-
 # Manually install MAVROS from source in the ws_blue/ workspace
 WORKDIR $USER_WORKSPACE/src/
 ARG MAVROS_RELEASE=ros2
@@ -141,8 +144,7 @@ RUN sudo apt-get -q update \
 RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" \
     && colcon build
 
-RUN echo "source ${USER_WORKSPACE}/install/setup.bash" >> /home/$USERNAME/.bashrc \
-    && echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /home/$USERNAME/.bashrc \
+RUN echo "if [ -f ${USER_WORKSPACE}/install/setup.bash ]; then source ${USER_WORKSPACE}/install/setup.bash; else source /opt/ros/${ROS_DISTRO}/setup.bash; fi" >> /home/$USERNAME/.bashrc \
     && echo "source $VIRTUAL_ENV/bin/activate" >> /home/$USERNAME/.bashrc \
     && echo "\n# Ensure colcon is run in the venv\nalias colcon='python3 -m colcon'" >> /home/$USERNAME/.bashrc
 

From fe50526e0b441f2e6d2d7d8b2a2054f96e7501a4 Mon Sep 17 00:00:00 2001
From: Aaron Marburg <amarburg@uw.edu>
Date: Wed, 4 Sep 2024 16:08:27 -0700
Subject: [PATCH 2/7] Explicitly ignore mavros and mavlinke packages when
 installing dependencies.

---
 .docker/Dockerfile | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.docker/Dockerfile b/.docker/Dockerfile
index 277687a0..e3df6eef 100644
--- a/.docker/Dockerfile
+++ b/.docker/Dockerfile
@@ -37,7 +37,7 @@ RUN apt-get -q update \
     && apt-get -q -y upgrade \
     && rosdep update \
     && vcs import src < src/blue/blue.repos \
-    && rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --as-root=apt:false \
+    && rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --as-root=apt:false --skip-keys="mavros mavlink" \
     && rm -rf src \
     && apt-get autoremove -y \
     && apt-get clean -y \

From 6aa54c3d0b382daba4c85ae3c36d6ac54583cea7 Mon Sep 17 00:00:00 2001
From: Aaron Marburg <amarburg@uw.edu>
Date: Wed, 4 Sep 2024 16:23:55 -0700
Subject: [PATCH 3/7] Set ROSDEP_SKIP_KEYS in ROS-Industrial CI

---
 .github/workflows/ci.yaml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
index e8ff75ad..e378033e 100644
--- a/.github/workflows/ci.yaml
+++ b/.github/workflows/ci.yaml
@@ -37,6 +37,7 @@ jobs:
       - name: Run ROS Industrial CI
         uses: ros-industrial/industrial_ci@master
         env:
+          ROSDEP_SKIP_KEYS: mavlink mavros
           DOCKER_IMAGE: ghcr.io/robotic-decision-making-lab/blue:${{ matrix.env.IMAGE }}
           CXXFLAGS: >-
             -Wall -Wextra -Wpedantic -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls

From c787703164cb6c961ac49a467365ff04eaf75c58 Mon Sep 17 00:00:00 2001
From: Aaron Marburg <amarburg@uw.edu>
Date: Wed, 4 Sep 2024 16:26:01 -0700
Subject: [PATCH 4/7] Also skip mavros-extras  in ROS-Industrial CI

---
 .github/workflows/ci.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
index e378033e..351081c9 100644
--- a/.github/workflows/ci.yaml
+++ b/.github/workflows/ci.yaml
@@ -37,7 +37,7 @@ jobs:
       - name: Run ROS Industrial CI
         uses: ros-industrial/industrial_ci@master
         env:
-          ROSDEP_SKIP_KEYS: mavlink mavros
+          ROSDEP_SKIP_KEYS: mavlink mavros mavros-extras
           DOCKER_IMAGE: ghcr.io/robotic-decision-making-lab/blue:${{ matrix.env.IMAGE }}
           CXXFLAGS: >-
             -Wall -Wextra -Wpedantic -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls

From 67ec373afccc871df8017871282eb8d527bb06b2 Mon Sep 17 00:00:00 2001
From: Aaron Marburg <amarburg@uw.edu>
Date: Thu, 5 Sep 2024 09:50:25 -0700
Subject: [PATCH 5/7] As a test, run Industrial ROS CI in humble rather than
 rolling.

---
 .docker/Dockerfile        | 2 +-
 .github/workflows/ci.yaml | 4 ++--
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/.docker/Dockerfile b/.docker/Dockerfile
index e3df6eef..277687a0 100644
--- a/.docker/Dockerfile
+++ b/.docker/Dockerfile
@@ -37,7 +37,7 @@ RUN apt-get -q update \
     && apt-get -q -y upgrade \
     && rosdep update \
     && vcs import src < src/blue/blue.repos \
-    && rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --as-root=apt:false --skip-keys="mavros mavlink" \
+    && rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --as-root=apt:false \
     && rm -rf src \
     && apt-get autoremove -y \
     && apt-get clean -y \
diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
index 351081c9..a45a1e7b 100644
--- a/.github/workflows/ci.yaml
+++ b/.github/workflows/ci.yaml
@@ -19,8 +19,8 @@ jobs:
       fail-fast: false
       matrix:
         env:
-          - IMAGE: rolling-ci
-            ROS_DISTRO: rolling
+          - IMAGE: hmuble-ci
+            ROS_DISTRO: humble
     steps:
       - name: Checkout repository
         uses: actions/checkout@v4

From 78f2c0303a969a93d924828ec6e2bcdf6d081388 Mon Sep 17 00:00:00 2001
From: Aaron Marburg <amarburg@uw.edu>
Date: Thu, 5 Sep 2024 10:32:55 -0700
Subject: [PATCH 6/7] Darnit, learn to spell

---
 .github/workflows/ci.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
index a45a1e7b..3f60c6e9 100644
--- a/.github/workflows/ci.yaml
+++ b/.github/workflows/ci.yaml
@@ -19,7 +19,7 @@ jobs:
       fail-fast: false
       matrix:
         env:
-          - IMAGE: hmuble-ci
+          - IMAGE: humble-ci
             ROS_DISTRO: humble
     steps:
       - name: Checkout repository

From 63e254dc535a201d0f30eaaca33ce4e31e8f8d4e Mon Sep 17 00:00:00 2001
From: Aaron Marburg <amarburg@uw.edu>
Date: Thu, 5 Sep 2024 10:33:26 -0700
Subject: [PATCH 7/7] Remove rosdep skip keys

---
 .github/workflows/ci.yaml | 1 -
 1 file changed, 1 deletion(-)

diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
index 3f60c6e9..83dcee5c 100644
--- a/.github/workflows/ci.yaml
+++ b/.github/workflows/ci.yaml
@@ -37,7 +37,6 @@ jobs:
       - name: Run ROS Industrial CI
         uses: ros-industrial/industrial_ci@master
         env:
-          ROSDEP_SKIP_KEYS: mavlink mavros mavros-extras
           DOCKER_IMAGE: ghcr.io/robotic-decision-making-lab/blue:${{ matrix.env.IMAGE }}
           CXXFLAGS: >-
             -Wall -Wextra -Wpedantic -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls