From 67ab5839b9845dd616e1ef3d12971b731a1ac192 Mon Sep 17 00:00:00 2001
From: Lucas Walter <wsacul@gmail.com>
Date: Mon, 15 Jul 2024 08:08:10 -0700
Subject: [PATCH] move all git clones into vcs yaml file, commingle catkin
 packages and cmake/python packages for now

---
 .github/workflows/ubuntu_24_04.yaml |  4 +--
 Dockerfile                          | 12 ++++---
 build.sh                            | 27 +++++++++------
 git_clone.sh                        | 18 ++--------
 underlay_repos.yaml                 | 52 +++++++++++++++++++++--------
 5 files changed, 66 insertions(+), 47 deletions(-)

diff --git a/.github/workflows/ubuntu_24_04.yaml b/.github/workflows/ubuntu_24_04.yaml
index 438db5a..312a256 100644
--- a/.github/workflows/ubuntu_24_04.yaml
+++ b/.github/workflows/ubuntu_24_04.yaml
@@ -6,7 +6,7 @@ on:
 
 jobs:
   ubuntu2404dockeron2204:
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     # env:
     steps:
       - name: git clone git@github.com:lucasw/ros_from_src
@@ -18,7 +18,7 @@ jobs:
       - name: docker build from source 24.04
         run: |
           cd ros_from_src
-          docker build --build-arg IMAGE=ubuntu:24.04 --build-arg PYTHON_MINOR_VERSION=10 . -t ros2404
+          docker build --build-arg IMAGE=ubuntu:24.04 . -t ros2404
 
           # TODO(lucasw) ubuntu_2404/Dockerfile doesn't work, was depending on the now-removed
           # apt debian science ros packages
diff --git a/Dockerfile b/Dockerfile
index 5110dbf..f96bba7 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -1,4 +1,4 @@
-ARG IMAGE=ubuntu:22.04
+ARG IMAGE=ubuntu:24.04
 FROM ${IMAGE}
 ARG IMAGE
 RUN echo ${IMAGE}
@@ -14,9 +14,9 @@ RUN apt-get install -yqq git
 
 # TODO(lucasw) this doesn't work in 20.04 because of log
 # --build-args ROSCONSOLE=https://github.com/ros-o/rosconsole
-ARG ROSCONSOLE=https://github.com/ros-o/rosconsole
+# ARG ROSCONSOLE=https://github.com/ros-o/rosconsole
 # ENV ROSCONSOLE=$ROSCONSOLE
-RUN echo $ROSCONSOLE
+# 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
@@ -26,9 +26,11 @@ 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
+RUN mkdir -p underlay_ws/src
+COPY underlay_repos.yaml underlay_ws/src
 COPY git_clone.sh $SRC/ros_from_src
-RUN ROS_CONSOLE=$ROSCONSOLE $SRC/ros_from_src/git_clone.sh
+# RUN ROS_CONSOLE=$ROSCONSOLE $SRC/ros_from_src/git_clone.sh
+RUN $SRC/ros_from_src/git_clone.sh
 
 COPY build.sh $SRC/ros_from_src
 RUN $SRC/ros_from_src/build.sh
diff --git a/build.sh b/build.sh
index 820811e..1660961 100755
--- a/build.sh
+++ b/build.sh
@@ -14,6 +14,10 @@ mkdir -p $BUILD
 
 DEST=`pwd`/ros
 
+WS=`pwd`/underlay_ws/src
+echo $WS
+mkdir $WS -p
+
 # python installs
 
 python --version | awk  '{print $2}' | cut -d'.' -f1
@@ -32,7 +36,7 @@ export PYTHONPATH=$PYTHONPATH:$OPT_PYTHONPATH0:$OPT_PYTHONPATH1
 echo PYTHONPATH=$PYTHONPATH:$OPT_PYTHONPATH0:$OPT_PYTHONPATH1
 
 # catkin_pkg
-cd $SRC/catkin_pkg
+cd $WS/catkin_pkg
 python3 setup.py install --prefix=$DEST --record install_manifest.txt --single-version-externally-managed
 ls -l $OPT_PYTHONPATH0 || ls -l $OPT_PYTHONPATH1
 ls -l $OPT_PYTHONPATH0/catkin_pkg* || ls -l $OPT_PYTHONPATH1/catkin_pkg*
@@ -42,22 +46,25 @@ python -c "from catkin_pkg.package import parse_package"
 
 
 # osrf pycommon
-cd $SRC/osrf_pycommon
+cd $WS/osrf_pycommon
 # TODO(lucasw) install to $DEST
 python3 setup.py install --prefix=$DEST --record install_manifest.txt --single-version-externally-managed
 
 # catkin tools
-cd $SRC/catkin_tools
+cd $WS/catkin_tools
 python3 setup.py install --prefix=$DEST --record install_manifest.txt --single-version-externally-managed
 
 # catkin install
 mkdir -p $BUILD/catkin
 cd $BUILD/catkin
 cmake $WS/catkin -DCATKIN_BUILD_BINARY_PACKAGE=ON -DCMAKE_INSTALL_PREFIX=$DEST -DPYTHON_EXECUTABLE=/usr/bin/python -DSETUPTOOLS_DEB_LAYOUT=OFF -DCATKIN_INSTALL_INTO_PREFIX_ROOT=true && make && make install
-python -c "import catkin; print(catkin)"
-ls -l $DEST/bin
+ls -l $DEST/local/bin
 PATH=$PATH:$DEST/bin
 PATH=$PATH:$DEST/local/bin
+which catkin
+catkin --version
+echo $PYTHONPATH
+python -c "import catkin; print(catkin)"
 
 # console_bridge
 mkdir -p $BUILD/console_bridge
@@ -90,7 +97,7 @@ make install
 mkdir -p $BUILD/ros_environment
 pwd
 cd $BUILD/ros_environment
-cmake $SRC/ros_environment -DCATKIN_BUILD_BINARY_PACKAGE=ON -DCMAKE_INSTALL_PREFIX=$DEST -DPYTHON_EXECUTABLE=/usr/bin/python -DSETUPTOOLS_DEB_LAYOUT=OFF
+cmake $WS/ros_environment -DCATKIN_BUILD_BINARY_PACKAGE=ON -DCMAKE_INSTALL_PREFIX=$DEST -DPYTHON_EXECUTABLE=/usr/bin/python -DSETUPTOOLS_DEB_LAYOUT=OFF
 make
 make install
 
@@ -130,13 +137,13 @@ make
 make install
 
 # rospkg
-cd $SRC/rospkg
+cd $WS/rospkg
 python3 setup.py install --prefix=$DEST --record install_manifest.txt --single-version-externally-managed
 
-cd $SRC/rosdistro
+cd $WS/rosdistro
 python3 setup.py install --prefix=$DEST --record install_manifest.txt --single-version-externally-managed
 
-cd $SRC/rosdep
+cd $WS/rosdep
 python3 setup.py install --prefix=$DEST --record install_manifest.txt --single-version-externally-managed
 rosdep init || true
 rosdep update
@@ -144,5 +151,3 @@ 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
-
-
diff --git a/git_clone.sh b/git_clone.sh
index 97b7308..7c3468b 100755
--- a/git_clone.sh
+++ b/git_clone.sh
@@ -1,6 +1,8 @@
 #!/bin/bash
 # TODO(lucasw) replace the below with submodules
 # export PATH=$PATH:/usr/local/bin
+set -e
+
 SRC=`pwd`/src
 echo $SRC
 mkdir $SRC -p
@@ -12,21 +14,7 @@ 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
-vcs import --input underlay_repos.yaml
+vcs import --input underlay_repos.yaml --retry 5
 
 # ROSCONSOLE1=${ROSCONSOLE:-https://github.com/ros-o/rosconsole}
 # git clone $ROSCONSOLE1
-
-# pure python
-cd $SRC
-git clone https://github.com/ros-infrastructure/catkin_pkg
-git clone https://github.com/osrf/osrf_pycommon
-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
-git clone https://github.com/lucasw/rosdep --branch disable_root_etc_ros
diff --git a/underlay_repos.yaml b/underlay_repos.yaml
index 4de723d..6748a37 100644
--- a/underlay_repos.yaml
+++ b/underlay_repos.yaml
@@ -1,20 +1,28 @@
 repositories:
+  # TODO(lucasw) separate the ros catkin packages from cmake/python packages
   actionlib:
     type: git
-    url: git@github.com:ros/actionlib.git
+    url: https://github.com/ros/actionlib.git
     version: noetic-devel
   angles:
     type: git
-    url: git@github.com:ros/angles.git
+    url: https://github.com/ros/angles.git
     version: master
   bond_core:
     type: git
-    url: git@github.com:ros-o/bond_core.git
+    url: https://github.com/ros-o/bond_core.git
     version: obese-devel
   catkin:
     type: git
-    url: https://github.com/ros/catkin
-    version: noetic-devel
+    url: https://github.com/ros-o/catkin
+    version: obese-devel
+  catkin_pkg:
+    type: git
+    url: https://github.com/ros-infrastructure/catkin_pkg
+    # version: noetic-devel
+  catkin_tools:
+    type: git
+    url: https://github.com/catkin/catkin_tools
   class_loader:
     type: git
     url: https://github.com/ros-o/class_loader
@@ -25,7 +33,7 @@ repositories:
     version: 0.5-devel
   common_msgs:
     type: git
-    url: git@github.com:ros/common_msgs.git
+    url: https://github.com/ros/common_msgs.git
     version: noetic-devel
   console_bridge:
     type: git
@@ -57,15 +65,15 @@ repositories:
     version: main
   geometry:
     type: git
-    url: git@github.com:ros-o/geometry.git
+    url: https://github.com/ros-o/geometry.git
     version: obese-devel
-  geometry2:  # TODO(lucasw) use ros-o
+  geometry2:
     type: git
-    url: git@github.com:lucasw/geometry2
-    version: noetic-devel
+    url: https://github.com/ros-o/geometry2
+    version: obese-devel
   kdl_parser:
     type: git
-    url: git@github.com:ros/kdl_parser.git
+    url: https://github.com/ros/kdl_parser.git
     version: noetic-devel
   message_generation:
     type: git
@@ -75,13 +83,16 @@ repositories:
     type: git
     url: https://github.com/ros/message_runtime
     version: kinetic-devel
+  osrf_pycommon:
+    type: git
+    url: https://github.com/osrf/osrf_pycommon
   pluginlib:
     type: git
     url: https://github.com/ros-o/pluginlib
     version: obese-devel
   resource_retriever:
     type: git
-    url: git@github.com:ros/resource_retriever.git
+    url: https://github.com/ros/resource_retriever.git
     version: kinetic-devel
   ros:
     type: git
@@ -95,27 +106,40 @@ repositories:
     type: git
     url: https://github.com/ros/ros_comm_msgs
     version: kinetic-devel
+  ros_environment:
+    type: git
+    url: https://github.com/ros-o/ros_environment
   rosconsole:
     type: git
     url: https://github.com/ros-o/rosconsole
     version: obese-devel
   rosconsole_bridge:
     type: git
-    url: git@github.com:ros/rosconsole_bridge.git
+    url: https://github.com/ros/rosconsole_bridge
     version: kinetic-devel
   roscpp_core:
     type: git
     url: https://github.com/ros-o/roscpp_core
     version: obese-devel
+  rosdep:
+    type: git
+    url: https://github.com/lucasw/rosdep
+    version: disable_root_etc_ros
+  rosdistro:
+    type: git
+    url: https://github.com/ros-infrastructure/rosdistro
   rospack:
     type: git
     url: https://github.com/ros/rospack
     version: noetic-devel
+  rospkg:
+    type: git
+    url: https://github.com/ros-infrastructure/rospkg
   std_msgs:
     type: git
     url: https://github.com/ros/std_msgs
     version: kinetic-devel
   urdf:
     type: git
-    url: git@github.com:ros/urdf.git
+    url: https://github.com/ros/urdf.git
     version: melodic-devel