From 6745a4ce4120969708979db983068085ac7d59d0 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Victor=20Massagu=C3=A9=20Respall?= Date: Tue, 13 Dec 2022 10:51:51 +0100 Subject: [PATCH] Remove deprecated files from UML --- debian/create_debians.sh | 87 ------------- geographic_msgs/CHANGELOG.rst | 62 --------- geographic_msgs/CMakeLists.txt | 50 -------- .../geographic_msgs_mapping_rule.yaml | 9 -- geographic_msgs/mainpage.dox | 9 -- geographic_msgs/msg/BoundingBox.msg | 13 -- geographic_msgs/msg/GeoPath.msg | 2 - geographic_msgs/msg/GeoPoint.msg | 13 -- geographic_msgs/msg/GeoPointStamped.msg | 2 - geographic_msgs/msg/GeoPolygon.msg | 2 - geographic_msgs/msg/GeoPose.msg | 7 - geographic_msgs/msg/GeoPoseStamped.msg | 2 - geographic_msgs/msg/GeographicMap.msg | 11 -- geographic_msgs/msg/GeographicMapChanges.msg | 7 - geographic_msgs/msg/KeyValue.msg | 7 - geographic_msgs/msg/MapFeature.msg | 11 -- geographic_msgs/msg/RouteNetwork.msg | 16 --- geographic_msgs/msg/RoutePath.msg | 11 -- geographic_msgs/msg/RouteSegment.msg | 12 -- geographic_msgs/msg/WayPoint.msg | 5 - geographic_msgs/package.xml | 33 ----- geographic_msgs/srv/GetGeoPath.srv | 17 --- geographic_msgs/srv/GetGeographicMap.srv | 15 --- geographic_msgs/srv/GetPatrolPath.srv | 14 -- geographic_msgs/srv/GetRoutePlan.srv | 14 -- geographic_msgs/srv/UpdateGeographicMap.srv | 9 -- minimal_repos.txt | 17 --- nav2_minimal.dockerfile | 120 ------------------ nav2_pkgs.txt | 7 - 29 files changed, 584 deletions(-) delete mode 100755 debian/create_debians.sh delete mode 100644 geographic_msgs/CHANGELOG.rst delete mode 100644 geographic_msgs/CMakeLists.txt delete mode 100644 geographic_msgs/geographic_msgs_mapping_rule.yaml delete mode 100644 geographic_msgs/mainpage.dox delete mode 100644 geographic_msgs/msg/BoundingBox.msg delete mode 100644 geographic_msgs/msg/GeoPath.msg delete mode 100644 geographic_msgs/msg/GeoPoint.msg delete mode 100644 geographic_msgs/msg/GeoPointStamped.msg delete mode 100644 geographic_msgs/msg/GeoPolygon.msg delete mode 100644 geographic_msgs/msg/GeoPose.msg delete mode 100644 geographic_msgs/msg/GeoPoseStamped.msg delete mode 100644 geographic_msgs/msg/GeographicMap.msg delete mode 100644 geographic_msgs/msg/GeographicMapChanges.msg delete mode 100644 geographic_msgs/msg/KeyValue.msg delete mode 100644 geographic_msgs/msg/MapFeature.msg delete mode 100644 geographic_msgs/msg/RouteNetwork.msg delete mode 100644 geographic_msgs/msg/RoutePath.msg delete mode 100644 geographic_msgs/msg/RouteSegment.msg delete mode 100644 geographic_msgs/msg/WayPoint.msg delete mode 100644 geographic_msgs/package.xml delete mode 100644 geographic_msgs/srv/GetGeoPath.srv delete mode 100644 geographic_msgs/srv/GetGeographicMap.srv delete mode 100644 geographic_msgs/srv/GetPatrolPath.srv delete mode 100644 geographic_msgs/srv/GetRoutePlan.srv delete mode 100644 geographic_msgs/srv/UpdateGeographicMap.srv delete mode 100644 minimal_repos.txt delete mode 100644 nav2_minimal.dockerfile delete mode 100644 nav2_pkgs.txt diff --git a/debian/create_debians.sh b/debian/create_debians.sh deleted file mode 100755 index 427c3c3631..0000000000 --- a/debian/create_debians.sh +++ /dev/null @@ -1,87 +0,0 @@ -#!/bin/bash - -apt update && apt install -y python3-pip dpkg-dev debhelper dh-python && pip3 install bloom - -# store the current dir -CUR_DIR=$(pwd) - -# Update ROS deps -rosdep update &> /dev/null - -# Package list to create and install debian. -# Watch out the order to avoid missing dependencies while creating the debian. -PACKAGE_LIST_UNDERLAY=( - BehaviorTree/BehaviorTree.CPP \ - ros/angles/angles -) - -for PACKAGE in ${PACKAGE_LIST_UNDERLAY[@]}; do - echo "" - echo "Creating debian for $PACKAGE..." - - # We have to go to the ROS package parent directory - cd /opt/underlay_ws/src/$PACKAGE; - bloom-generate rosdebian --ros-distro humble - debian/rules "binary --parallel --with autoreconf " - - cd .. - DEB_FILE=$(find *.deb); - if ! [[ $? -eq 0 ]]; then - exit 1 - fi - dpkg -i $DEB_FILE - rm *.deb *.ddeb - cd $CUR_DIR - -done - -# Package list to create and install debian. -# Watch out the order to avoid missing dependencies while creating the debian. -PACKAGE_LIST=( - navigation2/geographic_msgs \ - navigation2/nav2_msgs \ - navigation2/nav2_common \ - navigation2/nav2_util \ - navigation2/nav2_voxel_grid - navigation2/nav2_behavior_tree \ - navigation2/nav2_bt_navigator \ - navigation2/nav2_map_server \ - navigation2/nav2_lifecycle_manager \ - navigation2/nav2_costmap_2d \ - navigation2/nav2_core \ - navigation2/nav2_rviz_plugins \ - navigation2/nav2_amcl \ - navigation2/nav2_planner \ - navigation2/nav2_navfn_planner \ - 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 - echo "" - echo "Creating debian for $PACKAGE..." - - # We have to go to the ROS package parent directory - cd $PACKAGE; - bloom-generate rosdebian --ros-distro humble - debian/rules "binary --parallel --with autoreconf " - - cd .. - DEB_FILE=$(find *.deb); - if ! [[ $? -eq 0 ]]; then - exit 1 - fi - dpkg -i $DEB_FILE - rm *.deb *.ddeb - cd $CUR_DIR - -done - -echo "Complete!" \ No newline at end of file diff --git a/geographic_msgs/CHANGELOG.rst b/geographic_msgs/CHANGELOG.rst deleted file mode 100644 index 0b721f4ce7..0000000000 --- a/geographic_msgs/CHANGELOG.rst +++ /dev/null @@ -1,62 +0,0 @@ -Change history -============== - -0.5.3 (2018-03-27) ------------------- - -* Add additional information to ``GetGeoPath`` service response. - -0.5.2 (2017-04-15) ------------------- - -* Fix merge error in GeoPath message. - -0.5.1 (2017-04-15) ------------------- - -* Add GeoPath message with poses. -* Add GetGeoPath service (`#7`_). - -0.5.0 (2017-04-07) ------------------- - -* Add new ``GeoPointStamped`` and ``GeoPoseStamped`` messages. - -0.4.0 (2014-09-18) ------------------- - -0.3.2 (2014-08-30) ------------------- - - * Add missing ``geometry_msgs`` dependency to ``catkin_package()`` - components in CMakeLists.txt (`#13`_), thanks to Timo Roehling. - -0.3.1 (2013-10-03) ------------------- - -0.3.0 (2013-08-03) ------------------- - - * Released to Hydro. - * Convert to catkin build (`#3`_). - -0.2.1 (2012-08-13) ------------------- - - * Released to Fuerte. - * Released to Groovy: 2013-03-27. - -0.2.0 (2012-06-02) ------------------- - - * Released to Electric. - -0.1.0 (2012-04-10) ------------------- - - * Initial release to Electric. - -.. _`#3`: https://github.com/ros-geographic-info/geographic_info/issues/3 -.. _`#6`: https://github.com/ros-geographic-info/geographic_info/issues/6 -.. _`#7`: https://github.com/ros-geographic-info/geographic_info/issues/7 -.. _`#13`: https://github.com/ros-geographic-info/geographic_info/pull/13 diff --git a/geographic_msgs/CMakeLists.txt b/geographic_msgs/CMakeLists.txt deleted file mode 100644 index c38f03fdb5..0000000000 --- a/geographic_msgs/CMakeLists.txt +++ /dev/null @@ -1,50 +0,0 @@ -cmake_minimum_required(VERSION 3.5) -project(geographic_msgs) - -# Default to C++14 -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -find_package(ament_cmake REQUIRED) -find_package(unique_identifier_msgs REQUIRED) -find_package(std_msgs REQUIRED) -find_package(geometry_msgs REQUIRED) -find_package(builtin_interfaces REQUIRED) -find_package(rosidl_default_generators REQUIRED) - -rosidl_generate_interfaces(${PROJECT_NAME} - "msg/BoundingBox.msg" - "msg/GeographicMapChanges.msg" - "msg/GeographicMap.msg" - "msg/GeoPath.msg" - "msg/GeoPolygon.msg" - "msg/GeoPoint.msg" - "msg/GeoPointStamped.msg" - "msg/GeoPose.msg" - "msg/GeoPoseStamped.msg" - "msg/KeyValue.msg" - "msg/MapFeature.msg" - "msg/RouteNetwork.msg" - "msg/RoutePath.msg" - "msg/RouteSegment.msg" - "msg/WayPoint.msg" - "srv/GetGeographicMap.srv" - "srv/GetGeoPath.srv" - "srv/GetPatrolPath.srv" - "srv/GetRoutePlan.srv" - "srv/UpdateGeographicMap.srv" - DEPENDENCIES unique_identifier_msgs geometry_msgs std_msgs builtin_interfaces -) - -install( - FILES geographic_msgs_mapping_rule.yaml - DESTINATION share/${PROJECT_NAME} -) - -ament_export_dependencies(rosidl_default_runtime) - -ament_package() diff --git a/geographic_msgs/geographic_msgs_mapping_rule.yaml b/geographic_msgs/geographic_msgs_mapping_rule.yaml deleted file mode 100644 index 4636a47d2d..0000000000 --- a/geographic_msgs/geographic_msgs_mapping_rule.yaml +++ /dev/null @@ -1,9 +0,0 @@ -# This file defines mappings between ROS 1 and ROS 2 interfaces. -# It is used with the ros1_bridge to allow for communication between ROS 1 and ROS 2. - -- - ros1_package_name: 'uuid_msgs' - ros1_message_name: 'UniqueID' - ros2_package_name: 'unique_identifier_msgs' - ros2_message_name: 'UUID' - diff --git a/geographic_msgs/mainpage.dox b/geographic_msgs/mainpage.dox deleted file mode 100644 index 77a740c06e..0000000000 --- a/geographic_msgs/mainpage.dox +++ /dev/null @@ -1,9 +0,0 @@ -/** -\mainpage -\htmlinclude manifest.html - -This package provides ROS messages for Geographic Information. - -It has no nodes, utilities, scripts or C++ API. - -*/ diff --git a/geographic_msgs/msg/BoundingBox.msg b/geographic_msgs/msg/BoundingBox.msg deleted file mode 100644 index 5e82e7570e..0000000000 --- a/geographic_msgs/msg/BoundingBox.msg +++ /dev/null @@ -1,13 +0,0 @@ -# Geographic map bounding box. -# -# The two GeoPoints denote diagonally opposite corners of the box. -# -# If min_pt.latitude is NaN, the bounding box is "global", matching -# any valid latitude, longitude and altitude. -# -# If min_pt.altitude is NaN, the bounding box is two-dimensional and -# matches any altitude within the specified latitude and longitude -# range. - -GeoPoint min_pt # lowest and most Southwestern corner -GeoPoint max_pt # highest and most Northeastern corner diff --git a/geographic_msgs/msg/GeoPath.msg b/geographic_msgs/msg/GeoPath.msg deleted file mode 100644 index 6663339d33..0000000000 --- a/geographic_msgs/msg/GeoPath.msg +++ /dev/null @@ -1,2 +0,0 @@ -std_msgs/Header header -geographic_msgs/GeoPoseStamped[] poses diff --git a/geographic_msgs/msg/GeoPoint.msg b/geographic_msgs/msg/GeoPoint.msg deleted file mode 100644 index 90d36f2d34..0000000000 --- a/geographic_msgs/msg/GeoPoint.msg +++ /dev/null @@ -1,13 +0,0 @@ -# Geographic point, using the WGS 84 reference ellipsoid. - -# Latitude [degrees]. Positive is north of equator; negative is south -# (-90 <= latitude <= +90). -float64 latitude - -# Longitude [degrees]. Positive is east of prime meridian; negative is -# west (-180 <= longitude <= +180). At the poles, latitude is -90 or -# +90, and longitude is irrelevant, but must be in range. -float64 longitude - -# Altitude [m]. Positive is above the WGS 84 ellipsoid (NaN if unspecified). -float64 altitude diff --git a/geographic_msgs/msg/GeoPointStamped.msg b/geographic_msgs/msg/GeoPointStamped.msg deleted file mode 100644 index 4099e96e59..0000000000 --- a/geographic_msgs/msg/GeoPointStamped.msg +++ /dev/null @@ -1,2 +0,0 @@ -std_msgs/Header header -geographic_msgs/GeoPoint position diff --git a/geographic_msgs/msg/GeoPolygon.msg b/geographic_msgs/msg/GeoPolygon.msg deleted file mode 100644 index a8d61f14b8..0000000000 --- a/geographic_msgs/msg/GeoPolygon.msg +++ /dev/null @@ -1,2 +0,0 @@ -# Speficiation of a polygon where the first and last points are assumed to be connected -geographic_msgs/GeoPoint[] points diff --git a/geographic_msgs/msg/GeoPose.msg b/geographic_msgs/msg/GeoPose.msg deleted file mode 100644 index 906fc50178..0000000000 --- a/geographic_msgs/msg/GeoPose.msg +++ /dev/null @@ -1,7 +0,0 @@ -# Geographic pose, using the WGS 84 reference ellipsoid. -# -# Orientation uses the East-North-Up (ENU) frame of reference. -# (But, what about singularities at the poles?) - -GeoPoint position -geometry_msgs/Quaternion orientation diff --git a/geographic_msgs/msg/GeoPoseStamped.msg b/geographic_msgs/msg/GeoPoseStamped.msg deleted file mode 100644 index 1e526aa4ac..0000000000 --- a/geographic_msgs/msg/GeoPoseStamped.msg +++ /dev/null @@ -1,2 +0,0 @@ -std_msgs/Header header -geographic_msgs/GeoPose pose diff --git a/geographic_msgs/msg/GeographicMap.msg b/geographic_msgs/msg/GeographicMap.msg deleted file mode 100644 index 4bc3e411d9..0000000000 --- a/geographic_msgs/msg/GeographicMap.msg +++ /dev/null @@ -1,11 +0,0 @@ -# Geographic map for a specified region. - -std_msgs/Header header # stamp specifies time - # frame_id (normally /map) - -unique_identifier_msgs/UUID id # identifier for this map -BoundingBox bounds # 2D bounding box containing map - -WayPoint[] points # way-points -MapFeature[] features # map features -KeyValue[] props # map properties diff --git a/geographic_msgs/msg/GeographicMapChanges.msg b/geographic_msgs/msg/GeographicMapChanges.msg deleted file mode 100644 index 1591586e90..0000000000 --- a/geographic_msgs/msg/GeographicMapChanges.msg +++ /dev/null @@ -1,7 +0,0 @@ -# A list of geographic map changes. - -std_msgs/Header header # stamp specifies time of change - # frame_id (normally /map) - -GeographicMap diffs # new and changed points and features -unique_identifier_msgs/UUID[] deletes # deleted map components diff --git a/geographic_msgs/msg/KeyValue.msg b/geographic_msgs/msg/KeyValue.msg deleted file mode 100644 index cd6048b96c..0000000000 --- a/geographic_msgs/msg/KeyValue.msg +++ /dev/null @@ -1,7 +0,0 @@ -# Geographic map tag (key, value) pair -# -# This is equivalent to diagnostic_msgs/KeyValue, repeated here to -# avoid introducing a trivial stack dependency. - -string key # tag label -string value # corresponding value diff --git a/geographic_msgs/msg/MapFeature.msg b/geographic_msgs/msg/MapFeature.msg deleted file mode 100644 index a2d58310e1..0000000000 --- a/geographic_msgs/msg/MapFeature.msg +++ /dev/null @@ -1,11 +0,0 @@ -# Geographic map feature. -# -# A list of WayPoint IDs for features like streets, highways, hiking -# trails, the outlines of buildings and parking lots in sequential -# order. -# -# Feature lists may also contain other feature lists as members. - -unique_identifier_msgs/UUID id # Unique feature identifier -unique_identifier_msgs/UUID[] components # Sequence of feature components -KeyValue[] props # Key/value properties for this feature diff --git a/geographic_msgs/msg/RouteNetwork.msg b/geographic_msgs/msg/RouteNetwork.msg deleted file mode 100644 index 598622f6ef..0000000000 --- a/geographic_msgs/msg/RouteNetwork.msg +++ /dev/null @@ -1,16 +0,0 @@ -# Geographic map route network. -# -# A directed graph of WayPoint nodes and RouteSegment edges. This -# information is extracted from the more-detailed contents of a -# GeographicMap. A RouteNetwork contains only the way points and -# route segments of interest for path planning. - -std_msgs/Header header - -unique_identifier_msgs/UUID id # This route network identifier -BoundingBox bounds # 2D bounding box for network - -WayPoint[] points # Way points in this network -RouteSegment[] segments # Directed edges of this network - -KeyValue[] props # Network key/value properties diff --git a/geographic_msgs/msg/RoutePath.msg b/geographic_msgs/msg/RoutePath.msg deleted file mode 100644 index 3655dfd9b7..0000000000 --- a/geographic_msgs/msg/RoutePath.msg +++ /dev/null @@ -1,11 +0,0 @@ -# Path through a route network. -# -# A path is a sequence of RouteSegment edges. This information is -# extracted from a RouteNetwork graph. A RoutePath lists the route -# segments needed to reach some chosen goal. - -std_msgs/Header header - -unique_identifier_msgs/UUID network # Route network containing this path -unique_identifier_msgs/UUID[] segments # Sequence of RouteSegment IDs -KeyValue[] props # Key/value properties diff --git a/geographic_msgs/msg/RouteSegment.msg b/geographic_msgs/msg/RouteSegment.msg deleted file mode 100644 index aaecf7bd5d..0000000000 --- a/geographic_msgs/msg/RouteSegment.msg +++ /dev/null @@ -1,12 +0,0 @@ -# Route network segment. -# -# This is one directed edge of a RouteNetwork graph. It represents a -# known path from one way point to another. If the path is two-way, -# there will be another RouteSegment with "start" and "end" reversed. - -unique_identifier_msgs/UUID id # Unique identifier for this segment - -unique_identifier_msgs/UUID start # beginning way point of segment -unique_identifier_msgs/UUID end # ending way point of segment - -KeyValue[] props # segment properties diff --git a/geographic_msgs/msg/WayPoint.msg b/geographic_msgs/msg/WayPoint.msg deleted file mode 100644 index 76dd8ca254..0000000000 --- a/geographic_msgs/msg/WayPoint.msg +++ /dev/null @@ -1,5 +0,0 @@ -# Way-point element for a geographic map. - -unique_identifier_msgs/UUID id # Unique way-point identifier -GeoPoint position # Position relative to WGS 84 ellipsoid -KeyValue[] props # Key/value properties for this point diff --git a/geographic_msgs/package.xml b/geographic_msgs/package.xml deleted file mode 100644 index d1806cb74c..0000000000 --- a/geographic_msgs/package.xml +++ /dev/null @@ -1,33 +0,0 @@ - - - - - geographic_msgs - 1.0.1 - - ROS messages for Geographic Information Systems. - - Jack O'Quin - Steve Macenski - Jack O'Quin - BSD - - http://wiki.ros.org/geographic_msgs - https://github.com/ros-geographic-info/geographic_info/issues - https://github.com/ros-geographic-info/geographic_info.git - - ament_cmake - - rosidl_default_generators - rosidl_default_runtime - - geometry_msgs - std_msgs - unique_identifier_msgs - - rosidl_interface_packages - - ament_cmake - - - diff --git a/geographic_msgs/srv/GetGeoPath.srv b/geographic_msgs/srv/GetGeoPath.srv deleted file mode 100644 index 43cbb195d5..0000000000 --- a/geographic_msgs/srv/GetGeoPath.srv +++ /dev/null @@ -1,17 +0,0 @@ -# Searches for given start and goal the nearest route segments -# and determine the path through the RouteNetwork - -geographic_msgs/GeoPoint start # starting point -geographic_msgs/GeoPoint goal # goal point - ---- - -bool success # true if the call succeeded -string status # more details - -geographic_msgs/GeoPath plan # path to follow - -unique_identifier_msgs/UUID network # the uuid of the RouteNetwork -unique_identifier_msgs/UUID start_seg # the uuid of the starting RouteSegment -unique_identifier_msgs/UUID goal_seg # the uuid of the ending RouteSegment -float64 distance # the length of the plan diff --git a/geographic_msgs/srv/GetGeographicMap.srv b/geographic_msgs/srv/GetGeographicMap.srv deleted file mode 100644 index ecaa592617..0000000000 --- a/geographic_msgs/srv/GetGeographicMap.srv +++ /dev/null @@ -1,15 +0,0 @@ -# This service requests a region of a geographic map. - -string url # where to read map data - -# Bounding box for the desired map. If all zeros, provide all data -# available from the specified URL. -BoundingBox bounds - ---- - -bool success # true if the call succeeded -string status # more details - -# The requested map, its bounds may differ from the requested bounds. -GeographicMap map diff --git a/geographic_msgs/srv/GetPatrolPath.srv b/geographic_msgs/srv/GetPatrolPath.srv deleted file mode 100644 index 4a7d8928a0..0000000000 --- a/geographic_msgs/srv/GetPatrolPath.srv +++ /dev/null @@ -1,14 +0,0 @@ -# This service requests for a patrolling-path that covers a polygon - -# The vertices of the area to be patrolled. Note: the first and the last point should -# be the same. -geographic_msgs/GeoPolygon polygon - ---- - -uint8 RESULT_SUCCESS = 0 -uint8 RESULT_FAILURE = 255 - -uint8 result -geographic_msgs/GeoPath path # patrolling-path -string error # error message when unable to compute path diff --git a/geographic_msgs/srv/GetRoutePlan.srv b/geographic_msgs/srv/GetRoutePlan.srv deleted file mode 100644 index 31abde9949..0000000000 --- a/geographic_msgs/srv/GetRoutePlan.srv +++ /dev/null @@ -1,14 +0,0 @@ -# Get a plan to traverse a route network from start to goal. -# -# Similar to nav_msgs/GetPlan, but constrained to use the route network. - -unique_identifier_msgs/UUID network # route network to use -unique_identifier_msgs/UUID start # starting way point -unique_identifier_msgs/UUID goal # goal way point - ---- - -bool success # true if the call succeeded -string status # more details - -RoutePath plan # path to follow diff --git a/geographic_msgs/srv/UpdateGeographicMap.srv b/geographic_msgs/srv/UpdateGeographicMap.srv deleted file mode 100644 index f390cd3c9a..0000000000 --- a/geographic_msgs/srv/UpdateGeographicMap.srv +++ /dev/null @@ -1,9 +0,0 @@ -# This service updates a geographic map. - -# Changes to geographic map. -GeographicMapChanges updates - ---- - -bool success # true if the call succeeded -string status # more details diff --git a/minimal_repos.txt b/minimal_repos.txt deleted file mode 100644 index bf4bab3c42..0000000000 --- a/minimal_repos.txt +++ /dev/null @@ -1,17 +0,0 @@ -nav2_bt_navigator -nav2_behavior_tree -nav2_msgs -nav2_common -nav2_util -nav2_planner -nav2_costmap_2d -nav2_core -nav2_voxel_grid -nav2_lifecycle_manager -nav2_map_server -nav2_amcl -nav2_rviz_plugins -nav2_navfn_planner -geographic_msgs -nav2_controller -nav2_dwb_controller \ No newline at end of file diff --git a/nav2_minimal.dockerfile b/nav2_minimal.dockerfile deleted file mode 100644 index baa0eac506..0000000000 --- a/nav2_minimal.dockerfile +++ /dev/null @@ -1,120 +0,0 @@ -# This dockerfile can be configured via --build-arg -# Build context must be the /navigation2 root folder for COPY. -# Example build command: -# export UNDERLAY_MIXINS="debug ccache" -# export OVERLAY_MIXINS="debug ccache coverage" -# docker build -t nav2:latest \ -# --build-arg UNDERLAY_MIXINS \ -# --build-arg OVERLAY_MIXINS ./ -ARG FROM_IMAGE=ros:humble-ros-base - -# multi-stage for caching -FROM $FROM_IMAGE AS cache - -# clone underlay source -ENV UNDERLAY_WS /opt/underlay_ws -RUN mkdir -p $UNDERLAY_WS/src -WORKDIR $UNDERLAY_WS -COPY ./tools/ros2_minimal_dependencies.repos ./ -RUN vcs import src < ros2_minimal_dependencies.repos - -# copy overlay source -ENV OVERLAY_WS /opt/overlay_ws -RUN mkdir -p $OVERLAY_WS/src -WORKDIR $OVERLAY_WS -COPY ./ src/navigation2 - -# copy manifests for caching -WORKDIR /opt -RUN find ./ -name "package.xml" | \ - 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/* - -# copy underlay manifests -ENV UNDERLAY_WS /opt/underlay_ws -COPY --from=cache /tmp/underlay_ws $UNDERLAY_WS -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/* - -# copy underlay source -COPY --from=cache $UNDERLAY_WS ./ - -# build underlay source -ARG UNDERLAY_MIXINS="release ccache" -ARG FAIL_ON_BUILD_FAILURE=True -RUN . /opt/ros/$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 - -# 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/* - -# 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 ./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 \ -# 's|^source .*|source "$OVERLAY_WS/install/setup.bash"|' \ -# /ros_entrypoint.sh - -########## PRODUCTION BUILD STAGE ########## -FROM build AS prod_stage - -ENV OVERLAY_WS /opt/overlay_ws -WORKDIR $OVERLAY_WS/src - -COPY debian/create_debians.sh $OVERLAY_WS/src/create_debians.sh - -RUN . /opt/ros/humble/setup.sh \ - && . /opt/overlay_ws/install/setup.sh \ - && . /opt/underlay_ws/install/setup.sh \ - && ./create_debians.sh \ - && rm -rf $OVERLAY_WS $UNDERLAY_WS - -WORKDIR /opt/ros/humble diff --git a/nav2_pkgs.txt b/nav2_pkgs.txt deleted file mode 100644 index 116b11b2d3..0000000000 --- a/nav2_pkgs.txt +++ /dev/null @@ -1,7 +0,0 @@ -dwb_msgs -dwb_core -dwb_plugins -costmap_queue -dwb_critics -nav_2d_msgs -nav_2d_utils \ No newline at end of file