From 4ad84ccc5a1541e150609f1dd783185c8cbc0737 Mon Sep 17 00:00:00 2001 From: Sebastian Castro <4603398+sea-bass@users.noreply.github.com> Date: Tue, 6 Aug 2024 10:27:47 -0400 Subject: [PATCH] Install Gazebo in tutorial image Dockerfile (#2952) * Install Gazebo in tutorial image Dockerfile * Add Jazzy job --------- Co-authored-by: Sebastian Jahr --- .docker/tutorial-source/Dockerfile | 11 ++++++++++- .github/workflows/tutorial_docker.yaml | 2 +- 2 files changed, 11 insertions(+), 2 deletions(-) diff --git a/.docker/tutorial-source/Dockerfile b/.docker/tutorial-source/Dockerfile index e4f875e91b..933513c375 100644 --- a/.docker/tutorial-source/Dockerfile +++ b/.docker/tutorial-source/Dockerfile @@ -1,12 +1,16 @@ # syntax = docker/dockerfile:1.3 # ghcr.io/moveit/moveit2:main-${ROS_DISTRO}-tutorial-source -# Source build of the repos file from the tutorail site +# Source build of the repos file from the tutorial site ARG ROS_DISTRO=rolling +ARG GZ_VERSION=harmonic + FROM moveit/moveit2:${ROS_DISTRO}-ci LABEL maintainer Tyler Weaver tyler@picknik.ai +ARG GZ_VERSION + # Export ROS_UNDERLAY for downstream docker containers ENV ROS_UNDERLAY /root/ws_moveit/install WORKDIR $ROS_UNDERLAY/.. @@ -17,6 +21,11 @@ COPY . src/moveit2 # Commands are combined in single RUN statement with "apt/lists" folder removal to reduce image size # https://docs.docker.com/develop/develop-images/dockerfile_best-practices/#minimize-the-number-of-layers RUN --mount=type=cache,target=/root/.ccache/,sharing=locked \ + # Install Gazebo, which is needed by some dependencies. + sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list' && \ + wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add - && \ + sudo apt update && \ + sudo apt-get install -y "gz-${GZ_VERSION}" && \ # Enable ccache PATH=/usr/lib/ccache:$PATH && \ # Checkout the tutorial repo diff --git a/.github/workflows/tutorial_docker.yaml b/.github/workflows/tutorial_docker.yaml index 2438e4750f..cd305eec20 100644 --- a/.github/workflows/tutorial_docker.yaml +++ b/.github/workflows/tutorial_docker.yaml @@ -16,7 +16,7 @@ jobs: strategy: fail-fast: false matrix: - ROS_DISTRO: [rolling, humble, iron] + ROS_DISTRO: [rolling, humble, iron, jazzy] runs-on: ubuntu-latest permissions: packages: write