use ros-o repos for urdf and kdl_parser so building in 22.04 works

Dockerfile

@@ -26,6 +26,9 @@ WORKDIR /
 COPY dependencies.sh $SRC/ros_from_src
 RUN $SRC/ros_from_src/dependencies.sh
 
+COPY ${SUBDIR}/dependencies.sh $SRC/ros_from_src/base_dependencies.sh
+RUN $SRC/ros_from_src/base_dependencies.sh
+
 # WORKDIR $SRC/ros_from_src
 RUN mkdir -p underlay_ws/src
 COPY underlay_repos.yaml underlay_ws/src
@@ -47,9 +50,6 @@ COPY ${SUBDIR}/base_git_clone.sh $SRC/ros_from_src
 # RUN ROS_CONSOLE=$ROSCONSOLE $SRC/ros_from_src/git_clone.sh
 RUN $SRC/ros_from_src/base_git_clone.sh
 
-COPY ${SUBDIR}/dependencies.sh $SRC/ros_from_src/base_dependencies.sh
-RUN $SRC/ros_from_src/base_dependencies.sh
-
 COPY ${SUBDIR}/base_catkin.sh $SRC/ros_from_src
 RUN $SRC/ros_from_src/base_catkin.sh
 

catkin.sh

@@ -12,13 +12,16 @@ echo $WS
 cd $WS/..
 echo "#####################"
 pwd
+# TODO(lucasw) would need to run unminimize to restore man pages
+man g++  # grep "This is the default for C++ code"
 catkin init
 catkin config --install --cmake-args -DCMAKE_BUILD_TYPE=Release -Wno-deprecated -DCATKIN_ENABLE_TESTING=False
 echo $PATH
 echo $LD_LIBRARY_PATH
 rospack list
 
-catkin build
+catkin build --no-status urdf
+catkin build --no-status
 source install/setup.bash
 rospack list
 # TODO(lucasw) run tests

dependencies.sh

@@ -11,6 +11,7 @@ apt-get install -y bzip2 libbz2-dev
 apt-get install -y cmake
 apt-get install -y coreutils
 apt-get install -y git
+apt-get install -y libb64-dev
 apt-get install -y libboost-dev
 apt-get install -y libboost-filesystem-dev
 apt-get install -y libboost-program-options-dev

ubuntu_2004/dependencies.sh

@@ -1,3 +1,3 @@
 #!/bin/bash
 
-apt-get install -yq libb64-dev libboost-iostreams-dev libboost-test-dev libboost-timer-dev libcgal-dev libgdal-dev libopencv-dev liboctomap-dev libpcl-dev libvtk7-dev sip-dev
+apt-get install -yq libboost-iostreams-dev libboost-test-dev libboost-timer-dev libcgal-dev libgdal-dev libopencv-dev liboctomap-dev libpcl-dev libvtk7-dev sip-dev

ubuntu_2404/dependencies.sh

@@ -1,3 +1,3 @@
 #!/bin/bash
 
-apt-get install -yq libb64-dev libboost-iostreams-dev libboost-test-dev libboost-timer-dev libcgal-dev libgdal-dev libopencv-dev liboctomap-dev libpcl-dev libvtk9-dev sip-dev
+apt-get install -yq libboost-iostreams-dev libboost-test-dev libboost-timer-dev libcgal-dev libgdal-dev libopencv-dev liboctomap-dev libpcl-dev libvtk9-dev sip-dev

underlay_repos.yaml

@@ -73,8 +73,8 @@ repositories:
     version: obese-devel
   kdl_parser:
     type: git
-    url: https://github.com/ros/kdl_parser.git
-    version: noetic-devel
+    url: https://github.com/ros-o/kdl_parser
+    version: obese-devel
   message_generation:
     type: git
     url: https://github.com/ros/message_generation
@@ -100,8 +100,11 @@ repositories:
     version: noetic-devel
   ros_comm:
     type: git
-    url: https://github.com/ros-o/ros_comm
-    version: obese-devel
+    # TODO(lucasw) got std::shared_mutex log4cxx errors in Ubuntu 22.04 with this version
+    # url: https://github.com/ros-o/ros_comm
+    # version: obese-devel
+    url: https://github.com/lucasw/ros_comm
+    version: salsa_noetic_aggregated
   ros_comm_msgs:
     type: git
     url: https://github.com/ros/ros_comm_msgs
@@ -145,5 +148,7 @@ repositories:
     version: kinetic-devel
   urdf:
     type: git
-    url: https://github.com/ros/urdf.git
-    version: melodic-devel
+    url: https://github.com/ros-o/urdf
+    version: obese-devel
+    # url: https://github.com/lucasw/urdf
+    # version: cmake_cxx_17