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Add nav2_dwb_controller package #10

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merged 2 commits into from
Aug 12, 2022
Merged

Add nav2_dwb_controller package #10

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ea9c230
Add nav2_dwb_controller package
biancabnd Aug 4, 2022
e31c0c2
Add nav2_dwb_controller and its dependencies
biancabnd Aug 10, 2022
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12 changes: 10 additions & 2 deletions debian/create_debians.sh
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Original file line number Diff line number Diff line change
Expand Up @@ -53,7 +53,15 @@ PACKAGE_LIST=(
navigation2/nav2_amcl \
navigation2/nav2_planner \
navigation2/nav2_navfn_planner \
navigation2/nav2_controller
navigation2/nav2_dwb_controller/nav_2d_msgs \
navigation2/nav2_dwb_controller/nav_2d_utils \
navigation2/nav2_controller \
navigation2/nav2_dwb_controller/dwb_msgs \
navigation2/nav2_dwb_controller/dwb_core \
navigation2/nav2_dwb_controller/dwb_plugins \
navigation2/nav2_dwb_controller/costmap_queue \
navigation2/nav2_dwb_controller/dwb_critics \
navigation2/nav2_dwb_controller/nav2_dwb_controller
)

for PACKAGE in ${PACKAGE_LIST[@]}; do
Expand All @@ -76,4 +84,4 @@ for PACKAGE in ${PACKAGE_LIST[@]}; do

done

echo "Complete!"
echo "Complete!"
3 changes: 2 additions & 1 deletion minimal_repos.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -13,4 +13,5 @@ nav2_amcl
nav2_rviz_plugins
nav2_navfn_planner
geographic_msgs
nav2_controller
nav2_controller
nav2_dwb_controller
61 changes: 31 additions & 30 deletions nav2_minimal.dockerfile
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Expand Up @@ -27,16 +27,16 @@ COPY ./ src/navigation2
# copy manifests for caching
WORKDIR /opt
RUN find ./ -name "package.xml" | \
xargs cp --parents -t /tmp
xargs cp --parents -t /tmp

# multi-stage for building
FROM $FROM_IMAGE AS build

# install CI dependencies
RUN apt-get update && apt-get install -q -y \
ccache \
lcov \
&& rm -rf /var/lib/apt/lists/*
ccache \
lcov \
&& rm -rf /var/lib/apt/lists/*

# copy underlay manifests
ENV UNDERLAY_WS /opt/underlay_ws
Expand All @@ -45,10 +45,10 @@ WORKDIR $UNDERLAY_WS

# install underlay dependencies
RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
apt-get update && rosdep install -q -y \
--from-paths src \
--ignore-src \
&& rm -rf /var/lib/apt/lists/*
apt-get update && rosdep install -q -y \
--from-paths src \
--ignore-src \
&& rm -rf /var/lib/apt/lists/*

# copy underlay source
COPY --from=cache $UNDERLAY_WS ./
Expand All @@ -57,45 +57,46 @@ COPY --from=cache $UNDERLAY_WS ./
ARG UNDERLAY_MIXINS="release ccache"
ARG FAIL_ON_BUILD_FAILURE=True
RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
colcon build \
--symlink-install \
--mixin \
$UNDERLAY_MIXINS \
--event-handlers console_direct+ \
|| touch build_failed && \
if [ -f build_failed ] && [ -n "$FAIL_ON_BUILD_FAILURE" ]; then \
exit 1; \
fi
colcon build \
--symlink-install \
--mixin \
$UNDERLAY_MIXINS \
--event-handlers console_direct+ \
|| touch build_failed && \
if [ -f build_failed ] && [ -n "$FAIL_ON_BUILD_FAILURE" ]; then \
exit 1; \
fi

# copy overlay manifests
ENV OVERLAY_WS /opt/overlay_ws
COPY --from=cache /tmp/overlay_ws $OVERLAY_WS

WORKDIR $OVERLAY_WS
COPY ./minimal_repos.txt ./
COPY ./nav2_pkgs.txt ./

# install overlay dependencies
RUN . $UNDERLAY_WS/install/setup.sh && \
apt-get update && rosdep install -q -y \
--from-paths $(awk '$0="src/navigation2/"$0' ./minimal_repos.txt) \
--ignore-src \
&& rm -rf /var/lib/apt/lists/*
apt-get update && rosdep install -q -y \
--from-paths $(awk '$0="src/navigation2/"$0' ./minimal_repos.txt) \
--ignore-src \
&& rm -rf /var/lib/apt/lists/*

# copy overlay source
COPY --from=cache $OVERLAY_WS ./

# build overlay source
ARG OVERLAY_MIXINS="release ccache"
RUN . $UNDERLAY_WS/install/setup.sh && \
colcon build \
--symlink-install \
--mixin \
$OVERLAY_MIXINS \
--packages-select $(cat ./minimal_repos.txt) nav_2d_msgs nav_2d_utils \
|| touch build_failed && \
if [ -f build_failed ] && [ -n "$FAIL_ON_BUILD_FAILURE" ]; then \
exit 1; \
fi
colcon build \
--symlink-install \
--mixin \
$OVERLAY_MIXINS \
--packages-select $(cat ./nav2_pkgs.txt) $(cat ./minimal_repos.txt) \
|| touch build_failed && \
if [ -f build_failed ] && [ -n "$FAIL_ON_BUILD_FAILURE" ]; then \
exit 1; \
fi

# source overlay from entrypoint
# RUN sed --in-place \
Expand Down
7 changes: 7 additions & 0 deletions nav2_pkgs.txt
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Original file line number Diff line number Diff line change
@@ -0,0 +1,7 @@
dwb_msgs
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Why do we need this file? Maybe we can put it all together in minimal_repos.txt??

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@biancabnd biancabnd Aug 12, 2022 •
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Merging into feat/update_humble sounds good!
Regarding the file, that was my first intention the problem is that this file is used in two commands:
Here in the rosdep install:

 apt-get update && rosdep install -q -y \
  --from-paths $(awk '$0="src/navigation2/"$0' ./minimal_repos.txt) \ 
  --ignore-src \
  && rm -rf /var/lib/apt/lists/*

And in the colcon build:

  --symlink-install \
  --mixin \
  $OVERLAY_MIXINS \
  --packages-select $(cat ./nav2_pkgs.txt) $(cat ./minimal_repos.txt) \

The problem is that in the first command it looks for packages at path : src/navigation2 while these packages are located in src/navigation2/nav2_dwb_controller which makes this command to fail. And if you add the entire path in the minimal_repos.txt then it fails the colcon build because it expects only the name of the package so dwb_core for example and not the entire path. I solved this issue by adding all these pkgs in a second file, but if you have a better alternative I am open to discuss it.

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The branch for humble is the feat/humble_main no? Because I cannot find feat/update_humble

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Yes sorry, I meant feat/humble_main

I understand now the issue with the files. Lets leave it like this and if we think of a cleaner solution we can still do it in the PR of Humble. Thanks for the clarification Bianca!

dwb_core
dwb_plugins
costmap_queue
dwb_critics
nav_2d_msgs
nav_2d_utils