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Rely on stable ROS 2 packages #69

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Merged
vahetag merged 2 commits into from
Apr 25, 2025
Merged

Rely on stable ROS 2 packages #69

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3e172ef
Rely on stable ROS 2 packages
Yadunund Apr 25, 2025
8f80034
Unrelated style fix
Yadunund Apr 25, 2025
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6 changes: 1 addition & 5 deletions Dockerfile.estimator
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Original file line number Diff line number Diff line change
Expand Up @@ -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/*

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6 changes: 1 addition & 5 deletions Dockerfile.tester
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Expand Up @@ -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/*

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4 changes: 3 additions & 1 deletion ibpc_py/src/ibpc/ibpc.py
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Expand Up @@ -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
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