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Jazzy and o3de 2605 #320

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e64b973
ROS Jazzy and O3DE 26.05 update:
michalpelka Mar 20, 2026
c725ae3
Added debug button to play animation
michalpelka Mar 26, 2026
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3 changes: 0 additions & 3 deletions .gitmodules
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Original file line number Diff line number Diff line change
@@ -1,6 +1,3 @@
[submodule "ros2_ws/src/Universal_Robots_ROS2_Driver"]
path = ros2_ws/src/Universal_Robots_ROS2_Driver
url = https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver.git
[submodule "engine/o3de"]
path = engine/o3de
url = https://github.com/o3de/o3de.git
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81 changes: 8 additions & 73 deletions Docker/Dockerfile.O3DE
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Expand Up @@ -4,90 +4,23 @@
# SPDX-License-Identifier: Apache-2.0 OR MIT
#

ARG ROS_VERSION=humble
ARG UBUNTU_VERSION=jammy
ARG ROS_VERSION=jazzy
ARG UBUNTU_VERSION=noble

FROM ros:${ROS_VERSION}-ros-base-${UBUNTU_VERSION}

ENV WORKSPACE=/data/workspace

WORKDIR $WORKSPACE

# O3DE Arguments
ARG O3DE_REPO=https://github.com/o3de/o3de
ARG O3DE_BRANCH=2505.1
ARG O3DE_COMMIT=HEAD

# O3DE Extras Arguments
ARG O3DE_EXTRAS_REPO=https://github.com/o3de/o3de-extras
ARG O3DE_EXTRAS_BRANCH=2505.1
ARG O3DE_EXTRAS_COMMIT=HEAD

# ROSCon2023 Human Worker Arguments
ARG ROSCON_DEMO_HUMAN_WORKER_REPO=https://github.com/RobotecAI/o3de-humanworker-gem
ARG ROSCON_DEMO_HUMAN_WORKER_BRANCH=2.0.0
ARG ROSCON_DEMO_HUMAN_WORKER_COMMIT=HEAD

# ROSCon2023 UR10 and UR20 Robots Gem Arguments
ARG ROSCON_DEMO_UR_ROBOTS_REPO=https://github.com/RobotecAI/o3de-ur-robots-gem
ARG ROSCON_DEMO_UR_ROBOTS_BRANCH=2.0.0
ARG ROSCON_DEMO_UR_ROBOTS_COMMIT=HEAD

# ROSCon2023 OTTO 600 and OTTO 1500 Robots Gem Arguments
ARG ROSCON_DEMO_OTTO_ROBOTS_REPO=https://github.com/RobotecAI/o3de-otto-robots-gem
ARG ROSCON_DEMO_OTTO_ROBOTS_BRANCH=2.0.0
ARG ROSCON_DEMO_OTTO_ROBOTS_COMMIT=HEAD

# ROSConDemo Arguments
ARG ROSCON_DEMO_REPO=https://github.com/RobotecAI/ROSCon2023Demo.git
ARG ROSCON_DEMO_BRANCH=3.0.1
ARG ROSCON_DEMO_BRANCH=main
ARG ROSCON_DEMO_COMMIT=HEAD
ARG ROSCON_DEMO_LEVEL=level1
ARG ROSCON_DEMO_FULLSCREEN=0
ARG ROSCON_DEMO_LARGE_SCALE=0

# O3DE Environment
ENV O3DE_REPO=$O3DE_REPO
ENV O3DE_BRANCH=$O3DE_BRANCH
ENV O3DE_COMMIT=$O3DE_COMMIT
ENV O3DE_ROOT=$WORKSPACE/o3de

# O3DE Extras Environment Variables
ENV O3DE_EXTRAS_REPO=$O3DE_EXTRAS_REPO
ENV O3DE_EXTRAS_BRANCH=$O3DE_EXTRAS_BRANCH
ENV O3DE_EXTRAS_COMMIT=$O3DE_EXTRAS_COMMIT
ENV O3DE_EXTRAS_ROOT=$WORKSPACE/o3de-extras

# ROSCon2023 Human Worker Environment Variables
ENV ROSCON_DEMO_HUMAN_WORKER_REPO=$ROSCON_DEMO_HUMAN_WORKER_REPO
ENV ROSCON_DEMO_HUMAN_WORKER_BRANCH=$ROSCON_DEMO_HUMAN_WORKER_BRANCH
ENV ROSCON_DEMO_HUMAN_WORKER_COMMIT=$ROSCON_DEMO_HUMAN_WORKER_COMMIT
ENV ROSCON_DEMO_HUMAN_WORKER_ROOT=$WORKSPACE/o3de-humanworker-gem

# ROSCon2023 UR10 and UR20 Robots Gem Environment Variables
ENV ROSCON_DEMO_UR_ROBOTS_REPO=$ROSCON_DEMO_UR_ROBOTS_REPO
ENV ROSCON_DEMO_UR_ROBOTS_BRANCH=$ROSCON_DEMO_UR_ROBOTS_BRANCH
ENV ROSCON_DEMO_UR_ROBOTS_COMMIT=$ROSCON_DEMO_UR_ROBOTS_COMMIT
ENV ROSCON_DEMO_UR_ROBOTS_ROOT=$WORKSPACE/o3de-ur-robots-gem

# ROSCon2023 OTTO 600 and OTTO 1500 Robots Gem Environment Variables
ENV ROSCON_DEMO_OTTO_ROBOTS_REPO=$ROSCON_DEMO_OTTO_ROBOTS_REPO
ENV ROSCON_DEMO_OTTO_ROBOTS_BRANCH=$ROSCON_DEMO_OTTO_ROBOTS_BRANCH
ENV ROSCON_DEMO_OTTO_ROBOTS_COMMIT=$ROSCON_DEMO_OTTO_ROBOTS_COMMIT
ENV ROSCON_DEMO_OTTO_ROBOTS_ROOT=$WORKSPACE/o3de-otto-robots-gem

# Assets only Gems used in the demo
ENV ROSCON_DEMO_WAREHOUSE_ASSETS_REPO=https://github.com/RobotecAI/robotec-warehouse-assets.git
ENV ROSCON_DEMO_WAREHOUSE_ASSETS_ROOT=$WORKSPACE/robotec-warehouse-assets
ENV ROSCON_DEMO_GENERIC_ASSETS_REPO=https://github.com/RobotecAI/robotec-generic-assets.git
ENV ROSCON_DEMO_GENERIC_ASSETS_ROOT=$WORKSPACE/robotec-generic-assets

# Robotec.ai additional tooling Gems
ENV ROSCON_DEMO_ROBOTEC_GEMS_REPO=https://github.com/RobotecAI/robotec-o3de-tools.git
ENV ROSCON_DEMO_ROBOTEC_GEMS_BRANCH=o3de-2505
ENV ROSCON_DEMO_ROBOTEC_GEMS_COMMIT=4006ef9
ENV ROSCON_DEMO_ROBOTEC_GEMS_ROOT=$WORKSPACE/robotec-o3de-tools

# ROSConDemo Environment Variables
ENV ROSCON_DEMO_REPO=$ROSCON_DEMO_REPO
ENV ROSCON_DEMO_BRANCH=$ROSCON_DEMO_BRANCH
Expand Down Expand Up @@ -119,11 +52,14 @@ RUN apt-get update \
&& apt-get install -y \
binutils \
clang \
clang-tools \
cmake \
git \
git-lfs \
libglu1-mesa-dev \
libxcb-xinerama0 \
libxcb-randr0-dev \
libxcb-keysyms1-dev \
libfontconfig1-dev \
libnvidia-gl-470 \
libxcb-xkb-dev \
Expand Down Expand Up @@ -157,10 +93,9 @@ RUN apt-get update \
ros-${ROS_DISTRO}-navigation2 \
ros-${ROS_DISTRO}-ur-description \
ros-${ROS_DISTRO}-force-torque-sensor-broadcaster \
ros-${ROS_DISTRO}-simulation-interfaces \
python3-vcstool \
python3-rosdep2 \
python3-colcon-common-extensions \
&& pip install python-statemachine
python3-colcon-common-extensions

ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

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11 changes: 4 additions & 7 deletions Docker/Dockerfile.ROS
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Expand Up @@ -4,8 +4,8 @@
# SPDX-License-Identifier: Apache-2.0 OR MIT
#

ARG ROS_VERSION=humble
ARG UBUNTU_VERSION=jammy
ARG ROS_VERSION=jazzy
ARG UBUNTU_VERSION=noble

FROM ros:${ROS_VERSION}-ros-base-${UBUNTU_VERSION}

Expand Down Expand Up @@ -64,15 +64,12 @@ RUN apt-get update \
ros-${ROS_DISTRO}-cyclonedds \
ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
ros-${ROS_DISTRO}-controller-manager \
ros-${ROS_DISTRO}-ur-client-library \
ros-${ROS_DISTRO}-nav2-common \
ros-${ROS_DISTRO}-navigation2 \
ros-${ROS_DISTRO}-ur-description \
ros-${ROS_DISTRO}-force-torque-sensor-broadcaster \
ros-${ROS_DISTRO}-simulation-interfaces \
python3-vcstool \
python3-rosdep2 \
python3-colcon-common-extensions \
&& pip install python-statemachine
python3-colcon-common-extensions

ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

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26 changes: 3 additions & 23 deletions Docker/README.md
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Expand Up @@ -23,28 +23,8 @@ The script for O3DE (`Dockerfile.O3DE`) will build the ROSCon2023Demo Warehouse

| Argument | Description | Default |
| ------------------------------- | ------------------------------------------------------------------------------------- | --------------------------------------------------- |
| ROS_VERSION | The distro of ROS (humble or iron) | humble |
| UBUNTU_VERSION | The supporting distro of Ubuntu (focal, jammy) | jammy |
| O3DE_REPO | The git repo for O3DE | https://github.com/o3de/o3de |
| O3DE_BRANCH | The branch/tag for O3DE | 2505.1 |
| O3DE_COMMIT | The commit on the branch/tag for O3DE (or HEAD) | HEAD |
| O3DE_EXTRAS_REPO | The git repo for O3DE Extras | https://github.com/o3de/o3de-extras |
| O3DE_EXTRAS_BRANCH | The branch/tag for O3DE Extras | 2505.1 |
| O3DE_EXTRAS_COMMIT | The commit on the branch for O3DE Extras (or HEAD) | HEAD |
| ROSCON_DEMO_HUMAN_WORKER_REPO | The git repo for Demo Human worker Gem | https://github.com/RobotecAI/o3de-humanworker-gem |
| ROSCON_DEMO_HUMAN_WORKER_BRANCH | The branch/tag for Demo Human worker Gem | 2.0.0 |
| ROSCON_DEMO_HUMAN_WORKER_COMMIT | The commit on the branch/tag for Demo Human worker Gem (or HEAD) | HEAD |
| ROSCON_DEMO_UR_ROBOTS_REPO | The git repo for Demo UR Robots Gem | https://github.com/RobotecAI/o3de-ur-robots-gem |
| ROSCON_DEMO_UR_ROBOTS_BRANCH | The branch/tag for Demo UR Robots Gem | 2.0.0 |
| ROSCON_DEMO_UR_ROBOTS_COMMIT | The commit on the branch/tag for Demo UR Robots Gem (or HEAD) | HEAD |
| ROSCON_DEMO_OTTO_ROBOTS_REPO | The git repo for the Demo Otto Robots Gem | https://github.com/RobotecAI/o3de-otto-robots-gem |
| ROSCON_DEMO_OTTO_ROBOTS_BRANCH | The branch/tag for the Demo Otto Robots Gem | 2.0.0 |
| ROSCON_DEMO_OTTO_ROBOTS_COMMIT | The commit on the branch/tag for the Demo Otto Robots Gem (or HEAD) | HEAD |
| ROSCON_DEMO_REPO | The git repo for ROSCon2023 Warehouse Demo | https://github.com/RobotecAI/ROSCon2023Demo.git |
| ROSCON_DEMO_BRANCH | The branch/tag for ROSCon2023 Warehouse Demo | 3.0.1 |
| ROSCON_DEMO_COMMIT | The commit on the branch/tag for ROSCon2023 Warehouse Demo (or HEAD) | HEAD |
| ROSCON_DEMO_ROBOTEC_GEMS_REPO | The git repo for Robotec Gems | https://github.com/RobotecAI/robotec-o3de-tools.git |
| ROSCON_DEMO_ROBOTEC_GEMS_BRANCH | The branch/tag for Robotec Gems | o3de-2505 |
| ROS_VERSION | The distro of ROS (jazzy ) | jazzy |
| UBUNTU_VERSION | The supporting distro of Ubuntu (focal, jammy) | noble |
| ROSCON_DEMO_ROBOTEC_GEMS_COMMIT | The commit on the branch/tag for Robotec Gems (or HEAD) | 4006ef9 |
| ROSCON_DEMO_LEVEL | The startup level (level1 or level2). **See Notes below** | level1 |
| ROSCON_DEMO_FULLSCREEN | Option to launch the simulation in fullscreen mode (0=no, 1=yes) | 0 |
Expand All @@ -69,7 +49,7 @@ The O3DE Docker image can reach 10 GB in size, so if you want to create a separa

| Argument | Description | Default |
| ----------------------- | ------------------------------------------------------------------------------------- | ----------------------------------------------- |
| ROS_VERSION | The distro of ROS (humble, or iron) | humble |
| ROS_VERSION | The distro of ROS (humble, or iron) | jazzy |
| UBUNTU_VERSION | The supporting distro of Ubuntu (focal, jammy) | jammy |
| ROSCON_DEMO_REPO | The git repo for ROSCon2023 Warehouse Demo | https://github.com/RobotecAI/ROSCon2023Demo.git |
| ROSCON_DEMO_BRANCH | The branch/tag for ROSCon2023 Warehouse Demo | 2.0.0 |
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2 changes: 0 additions & 2 deletions Docker/build_ros.sh
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Expand Up @@ -39,9 +39,7 @@ ROSCon2023Demo Project | $(git -C $ROSCON_DEMO_ROOT rev-parse --short
# Build and install the additional ROS 2 packages and drivers
###############################################################
pushd $ROSCON_DEMO_ROOT/ros2_ws && \
./setup_submodules.bash && \
rosdep update && \
rosdep install --ignore-src --from-paths src/Universal_Robots_ROS2_Driver -y && \
colcon build --symlink-install && \
. ./install/setup.sh && \
popd
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