Add ROS 2 humble. Update ROS 2 dockerfile to take args for the ros ve…

.github/workflows/docker_builds.yml

@@ -442,10 +442,36 @@ jobs:
         tag_names: true
         workdir: docker
 
+  px4-dev-ros2-humble:
+    name: "ROS2 Humble"
+    runs-on: ubuntu-latest
+    needs: px4-dev-base-jammy
+    steps:
+    - uses: actions/checkout@v3
+    - name: Build container
+      if: github.event_name == 'pull_request'
+      run: |
+        cd docker
+        make px4-dev-ros2-humble
+    - name: Build & Publish container
+      if: github.event_name == 'push' && (contains(github.ref, '/heads/master') || contains(github.ref, '/tags/'))
+      uses: julianoes/Publish-Docker-Github-Action@master
+      with:
+        name: px4io/px4-dev-ros2-humble
+        username: ${{ secrets.DOCKER_USERNAME }}
+        password: ${{ secrets.DOCKER_PASSWORD }}
+        dockerfile: Dockerfile_ros2
+        cache: false
+        tag_names: true
+        workdir: docker
+        build-args: |
+          ROS_DISTRO=humble
+          BASE=px4io/px4-dev-base-jammy
+
   px4-dev-ros2-rolling:
     name: "ROS2 Rolling"
     runs-on: ubuntu-latest
-    needs: px4-dev-base-focal
+    needs: px4-dev-base-jammy
     steps:
     - uses: actions/checkout@v3
     - name: Build container
@@ -460,10 +486,13 @@ jobs:
         name: px4io/px4-dev-ros2-rolling
         username: ${{ secrets.DOCKER_USERNAME }}
         password: ${{ secrets.DOCKER_PASSWORD }}
-        dockerfile: Dockerfile_ros2-rolling
+        dockerfile: Dockerfile_ros2
         cache: false
         tag_names: true
         workdir: docker
+        build-args: |
+          ROS_DISTRO=rolling
+          BASE=px4io/px4-dev-base-jammy
 
   px4-dev-ros2-galactic:
     name: "ROS2 Galactic"
@@ -483,10 +512,13 @@ jobs:
         name: px4io/px4-dev-ros2-galactic
         username: ${{ secrets.DOCKER_USERNAME }}
         password: ${{ secrets.DOCKER_PASSWORD }}
-        dockerfile: Dockerfile_ros2-galactic
+        dockerfile: Dockerfile_ros2
         cache: false
         tag_names: true
         workdir: docker
+        build-args: |
+          ROS_DISTRO=galactic
+          BASE=px4io/px4-dev-base-focal
 
   px4-docs:
     name: "Ubuntu Docs"

docker/Dockerfile_ros2-rolling → docker/Dockerfile_ros2

@@ -7,12 +7,12 @@
 # and by maintainers who want their packages released and ready for the next
 # stable distribution." - in https://docs.ros.org/en/foxy/Releases/Release-Rolling-Ridley.html
 #
-
-FROM px4io/px4-dev-base-focal:2021-09-08
+ARG BASE=px4io/px4-dev-base-jammy
+FROM ${BASE}
 LABEL maintainer="Nuno Marques <[email protected]>"
 
 # setup environment
-ENV ROS_DISTRO rolling
+ARG ROS_DISTRO=rolling
 
 # setup ros2 keys
 RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
@@ -67,13 +67,13 @@ RUN colcon mixin add default \
 		https://raw.githubusercontent.com/colcon/colcon-metadata-repository/master/index.yaml \
 	&& colcon metadata update
 
-# Install Fast-DDS 2.3.1
-RUN rm -rf /usr/local/include/fastrtps /usr/local/share/fastrtps /usr/local/lib/libfastrtps* \
-	&& git clone --recursive https://github.com/eProsima/Fast-DDS.git -b v2.3.1 /tmp/FastRTPS-2.3.1 \
-	&& cd /tmp/FastRTPS-2.3.1 \
+# Install Micro-XRCE-DDS-Agent
+RUN git clone https://github.com/eProsima/Micro-XRCE-DDS-Agent.git /tmp/micro-xrce-dds-agent \
+    && cd /tmp/micro-xrce-dds-agent \
 	&& mkdir build && cd build \
-	&& cmake -DTHIRDPARTY=ON -DSECURITY=ON .. \
-	&& cmake --build . --target install -- -j $(nproc) \
+	&& cmake .. \
+	&& make -j $(nproc) && make install \
+	&& ldconfig /usr/local/lib \
 	&& rm -rf /tmp/*
 
 # create and start as LOCAL_USER_ID

docker/Makefile

@@ -65,11 +65,14 @@ px4-dev-ros2-eloquent: px4-dev-ros-melodic
 px4-dev-ros2-foxy: px4-dev-ros-noetic
 	docker build -t px4io/px4-dev-ros2-foxy . -f Dockerfile_ros2-foxy
 
-px4-dev-ros2-rolling: px4-dev-base-focal
-	docker build -t px4io/px4-dev-ros2-rolling . -f Dockerfile_ros2-rolling
+px4-dev-ros2-humble: px4-dev-base-jammy
+	docker build -t px4io/px4-dev-ros2-humble -f Dockerfile_ros2 --build-arg="ROS_DISTRO=humble" --build-arg="BASE=px4io/px4-dev-base-jammy" .
+
+px4-dev-ros2-rolling: px4-dev-base-jammy
+	docker build -t px4io/px4-dev-ros2-rolling -f Dockerfile_ros2 --build-arg="ROS_DISTRO=rolling" --build-arg="BASE=px4io/px4-dev-base-jammy" .
 
 px4-dev-ros2-galactic: px4-dev-base-focal
-	docker build -t px4io/px4-dev-ros2-galactic . -f Dockerfile_ros2-galactic
+	docker build -t px4io/px4-dev-ros2-galactic -f Dockerfile_ros2 --build-arg="ROS_DISTRO=galactic" --build-arg="BASE=px4io/px4-dev-base-focal" .
 
 px4-dev-simulation-bionic: px4-dev-base-bionic
 	docker build -t px4io/px4-dev-simulation-bionic . -f Dockerfile_simulation-bionic