interim checkin to make setting up a new 24.04 ros one install easier

Dockerfile

@@ -21,15 +21,21 @@ RUN echo $ROSCONSOLE
 # packages that need to be cmake installed, and are ros packages in a catkin workspace
 RUN mkdir $SRC/ros_from_src -p
 WORKDIR /
-COPY git_clone.sh $SRC/ros_from_src
-# WORKDIR $SRC/ros_from_src
-RUN ROS_CONSOLE=$ROSCONSOLE $SRC/ros_from_src/git_clone.sh
 
 COPY dependencies.sh $SRC/ros_from_src
 RUN $SRC/ros_from_src/dependencies.sh
 
+# WORKDIR $SRC/ros_from_src
+COPY underlay_repos.yaml $SRC/ros_from_src
+COPY git_clone.sh $SRC/ros_from_src
+RUN ROS_CONSOLE=$ROSCONSOLE $SRC/ros_from_src/git_clone.sh
+
 COPY build.sh $SRC/ros_from_src
 RUN $SRC/ros_from_src/build.sh
 
+COPY env.sh $SRC/ros_from_src
+COPY catkin.sh $SRC/ros_from_src
+RUN $SRC/ros_from_src/catkin.sh
+
 WORKDIR $WS/..
 # TODO(lucasw) run tests

build.sh

@@ -12,10 +12,6 @@ BUILD=`pwd`/build
 echo $BUILD
 mkdir -p $BUILD
 
-WS=`pwd`/catkin_ws/src
-echo $WS
-mkdir -p $WS || true
-
 DEST=`pwd`/ros
 
 # python installs
@@ -148,20 +144,5 @@ rosdep update
 # TODO(lucasw) already have a copy of this but needs to be in the workspace
 # find / | grep setup.bash
 # find / | grep catkin-config.cmake
-cd $WS/..
-catkin init
-source $DEST/setup.bash
-catkin config --install --cmake-args -DCMAKE_BUILD_TYPE=Release -Wno-deprecated -DCATKIN_ENABLE_TESTING=False
-rospack list
-
-# rosdep install --from-paths src --ignore-src -r -s  # do a dry-run first
-# rosdep install --from-paths src --ignore-src -r -y
-CMAKE_PREFIX_PATH=$CMAKE_PREFIX_PATH:$DEST:$DEST/lib/cmake
-echo $CMAKE_PREFIX_PATH
-# TODO(lucasw) put this in WS to begin with
-# TODO(lucasw) was this needed?  Need a bunch of CATKIN_IGNOREs in every package/test dir to make it build
-# ln -s $SRC/ros $WS/ros
-catkin build
-source devel/setup.bash
-rospack list
-# TODO(lucasw) run tests
+
+

catkin.sh

@@ -0,0 +1,18 @@
+#!/bin/bash
+
+source env.sh
+
+WS=`pwd`/underlay_ws/src
+echo $WS
+
+cd $WS/..
+echo "#####################"
+pwd
+catkin init
+catkin config --install --cmake-args -DCMAKE_BUILD_TYPE=Release -Wno-deprecated -DCATKIN_ENABLE_TESTING=False
+rospack list
+
+catkin build
+source devel/setup.bash
+rospack list
+# TODO(lucasw) run tests

dependencies.sh

@@ -18,6 +18,7 @@ apt-get install -y libgtest-dev
 apt-get install -y liblog4cxx-dev
 apt-get install -y liblz4-dev lz4
 apt-get install -y libpoco-dev
+apt-get install -y libtinyxml-dev
 apt-get install -y libtinyxml2-dev
 apt-get install -y mawk
 apt-get install -y python-is-python3
@@ -40,3 +41,6 @@ apt-get install -y python3-gnupg
 
 # TODO(lucasw) get this from source later
 # apt-get install -y python3-rosunit
+
+apt-get install -y catkin-tools
+apt-get install -y vcstool

env.sh

@@ -1,13 +1,16 @@
 #!/usr/bin/bash
 # source ros_from_src/env.sh
 export ROS_DEST=`pwd`/ros
-export PATH=$PATH:$ROS_DEST/bin
-export PATH=$PATH:$ROS_DEST/local/bin
+# export PATH=$PATH:$ROS_DEST/bin
+# export PATH=$PATH:$ROS_DEST/local/bin
 
+# python --version | awk  '{print $2}' | cut -d'.' -f1
 PYTHON_MAJOR_VERSION=`python --version | awk  '{print $2}' | cut -d'.' -f1`
 PYTHON_MINOR_VERSION=`python --version | awk  '{print $2}' | cut -d'.' -f2`
-OPT_PYTHONPATH=$ROS_DEST/local/lib/python$PYTHON_MAJOR_VERSION.$PYTHON_MINOR_VERSION/dist-packages/
+OPT_PYTHONPATH0=$ROS_DEST/local/lib/python$PYTHON_MAJOR_VERSION.$PYTHON_MINOR_VERSION/site-packages/
+OPT_PYTHONPATH1=$ROS_DEST/local/lib/python$PYTHON_MAJOR_VERSION.$PYTHON_MINOR_VERSION/dist-packages/
 
-export PYTHONPATH=$PYTHONPATH:$OPT_PYTHONPATH
+export PYTHONPATH=$PYTHONPATH:$OPT_PYTHONPATH0:$OPT_PYTHONPATH1
+echo "PYTHONPATH $PYTHONPATH"
 export CMAKE_PREFIX_PATH=$CMAKE_PREFIX_PATH:$ROS_DEST:$ROS_DEST/lib/cmake
-
+echo "CMAKE_PREFIXPATH $CMAKE_PREFIX_PATH"

git_clone.sh

@@ -4,37 +4,18 @@
 SRC=`pwd`/src
 echo $SRC
 mkdir $SRC -p
-WS=`pwd`/catkin_ws/src
+
+WS=`pwd`/underlay_ws/src
 echo $WS
 mkdir $WS -p
 
 # TODO(lucasw) replace these git clones with vcs
 # packages that need to be cmake installed, and are ros packages in a catkin workspace
 cd $WS
-git clone https://github.com/ros/catkin
-git clone https://github.com/ros/console_bridge
-git clone https://github.com/ros/cmake_modules
-git clone https://github.com/ros-o/class_loader
-git clone https://github.com/ros/rospack
-git clone https://github.com/ros/genmsg
-
-# ros packages, regular catkin build only for these
-git clone https://github.com/ros-o/ros_comm
-git clone https://github.com/ros-o/roscpp_core
-git clone https://github.com/ros/ros_comm_msgs
-git clone https://github.com/ros/message_generation
-git clone https://github.com/ros-o/gencpp
-git clone https://github.com/jsk-ros-pkg/geneus
-git clone https://github.com/RethinkRobotics-opensource/gennodejs
-git clone https://github.com/ros/genlisp
-git clone https://github.com/ros/genpy
-git clone https://github.com/ros/std_msgs
-git clone https://github.com/ros/message_runtime
-git clone https://github.com/ros-o/pluginlib
-git clone https://github.com/ros/ros
+vcs import --input underlay_repos.yaml
 
-ROSCONSOLE1=${ROSCONSOLE:-https://github.com/ros-o/rosconsole}
-git clone $ROSCONSOLE1
+# ROSCONSOLE1=${ROSCONSOLE:-https://github.com/ros-o/rosconsole}
+# git clone $ROSCONSOLE1
 
 # pure python
 cd $SRC
@@ -45,7 +26,6 @@ git clone https://github.com/catkin/catkin_tools
 # cmake installs
 git clone https://github.com/ros-o/ros_environment
 
-
 # runtime
 git clone https://github.com/ros-infrastructure/rospkg
 git clone https://github.com/ros-infrastructure/rosdistro

underlay_repos.yaml

@@ -0,0 +1,117 @@
+repositories:
+  actionlib:
+    type: git
+    url: [email protected]:ros/actionlib.git
+    version: noetic-devel
+  angles:
+    type: git
+    url: [email protected]:ros/angles.git
+    version: master
+  bond_core:
+    type: git
+    url: [email protected]:ros-o/bond_core.git
+    version: obese-devel
+  catkin:
+    type: git
+    url: https://github.com/ros/catkin
+    version: noetic-devel
+  class_loader:
+    type: git
+    url: https://github.com/ros-o/class_loader
+    version: obese-devel
+  cmake_modules:
+    type: git
+    url: https://github.com/ros/cmake_modules
+    version: 0.5-devel
+  console_bridge:
+    type: git
+    url: https://github.com/ros/console_bridge
+    version: master
+  gencpp:
+    type: git
+    url: https://github.com/ros-o/gencpp
+    version: obese-devel
+  geneus:
+    type: git
+    url: https://github.com/jsk-ros-pkg/geneus
+    version: master
+  genlisp:
+    type: git
+    url: https://github.com/ros/genlisp
+    version: kinetic-devel
+  genmsg:
+    type: git
+    url: https://github.com/ros/genmsg
+    version: kinetic-devel
+  gennodejs:
+    type: git
+    url: https://github.com/RethinkRobotics-opensource/gennodejs
+    version: kinetic-devel
+  genpy:
+    type: git
+    url: https://github.com/ros/genpy
+    version: main
+  geometry:
+    type: git
+    url: [email protected]:ros-o/geometry.git
+    version: obese-devel
+  common_msgs:
+    type: git
+    url: [email protected]:ros/common_msgs.git
+    version: noetic-devel
+  kdl_parser:
+    type: git
+    url: [email protected]:ros/kdl_parser.git
+    version: noetic-devel
+  message_generation:
+    type: git
+    url: https://github.com/ros/message_generation
+    version: kinetic-devel
+  message_runtime:
+    type: git
+    url: https://github.com/ros/message_runtime
+    version: kinetic-devel
+  pluginlib:
+    type: git
+    url: https://github.com/ros-o/pluginlib
+    version: obese-devel
+  resource_retriever:
+    type: git
+    url: [email protected]:ros/resource_retriever.git
+    version: kinetic-devel
+  ros:
+    type: git
+    url: https://github.com/ros/ros
+    version: noetic-devel
+  ros_comm:
+    type: git
+    url: https://github.com/ros-o/ros_comm
+    version: obese-devel
+  ros_comm_msgs:
+    type: git
+    url: https://github.com/ros/ros_comm_msgs
+    version: kinetic-devel
+  rosconsole:
+    type: git
+    url: https://github.com/ros-o/rosconsole
+    version: obese-devel
+  rosconsole_bridge:
+    type: git
+    url: [email protected]:ros/rosconsole_bridge.git
+    version: kinetic-devel
+  roscpp_core:
+    type: git
+    url: https://github.com/ros-o/roscpp_core
+    version: obese-devel
+  rospack:
+    type: git
+    url: https://github.com/ros/rospack
+    version: noetic-devel
+  std_msgs:
+    type: git
+    url: https://github.com/ros/std_msgs
+    version: kinetic-devel
+  urdf:
+    type: git
+    url: [email protected]:ros/urdf.git
+    version: melodic-devel