From 3e172efcb0e90a8ff846c1aeb56935cbba70b553 Mon Sep 17 00:00:00 2001 From: Yadunund Date: Fri, 25 Apr 2025 17:53:28 +0000 Subject: [PATCH 1/2] Rely on stable ROS 2 packages Signed-off-by: Yadunund --- Dockerfile.estimator | 6 +----- Dockerfile.tester | 6 +----- 2 files changed, 2 insertions(+), 10 deletions(-) diff --git a/Dockerfile.estimator b/Dockerfile.estimator index e69adbcc..60fd754b 100644 --- a/Dockerfile.estimator +++ b/Dockerfile.estimator @@ -57,12 +57,8 @@ FROM base ARG SERVICE_PACKAGE=ibpc_pose_estimator_py ARG SERVICE_EXECUTABLE_NAME=ibpc_pose_estimator -RUN apt update \ - && sudo apt install curl -y \ - && curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \ - && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2-testing/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null - RUN apt-get update \ + && apt upgrade -y \ && apt install -y ros-jazzy-rmw-zenoh-cpp python3-imageio python3-png python3-pip python3-scipy \ && rm -rf /var/lib/apt/lists/* diff --git a/Dockerfile.tester b/Dockerfile.tester index 447c8333..924b8cd3 100644 --- a/Dockerfile.tester +++ b/Dockerfile.tester @@ -41,12 +41,8 @@ RUN . /opt/ros/jazzy/setup.sh \ # result stage: base + copied install folders from the overlay + service setup. FROM base -RUN apt update \ - && sudo apt install curl -y \ - && curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \ - && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2-testing/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null - RUN apt-get update \ + && apt upgrade -y \ && apt install -y ros-jazzy-rmw-zenoh-cpp python3-imageio python3-pandas python3-png python3-pip python3-scipy \ && rm -rf /var/lib/apt/lists/* From 8f800342c524ac245fece7f6f1ae15a1e2bb4c80 Mon Sep 17 00:00:00 2001 From: Yadunund Date: Fri, 25 Apr 2025 18:02:28 +0000 Subject: [PATCH 2/2] Unrelated style fix Signed-off-by: Yadunund --- ibpc_py/src/ibpc/ibpc.py | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/ibpc_py/src/ibpc/ibpc.py b/ibpc_py/src/ibpc/ibpc.py index 3e3ab88a..9c0efd59 100644 --- a/ibpc_py/src/ibpc/ibpc.py +++ b/ibpc_py/src/ibpc/ibpc.py @@ -278,7 +278,9 @@ def main(): args_dict["name"] = ESTIMATOR_CONTAINER args_dict["network"] = "host" args_dict["extension_blacklist"] = ({},) - args_dict["volume"] = [[f"{args_dict['dataset']}/models:/opt/ros/underlay/install/3d_models"], ] + args_dict["volume"] = [ + [f"{args_dict['dataset']}/models:/opt/ros/underlay/install/3d_models"], + ] if not args_dict["no_gpu"]: args_dict["cuda"] = True args_dict["nvidia"] = True