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moved to osrf/ros:${ROSDISTRO}-desktop-full. Fixing cmake file in sve…
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…a_msg. problems with ament_package
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@ML1907
ML1907 committed Jan 9, 2025
1 parent 2bf8c90 commit 4170c79
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6 changes: 5 additions & 1 deletion docker/Dockerfile.base
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
# Dockerfile for base SVEA image (ROS2 Jazzy Jalisco)
#
# Author: Kaj Munhoz Arfvidsson
# Author: Marco Lodetti

# Dynamically set the base image using BUILD_TAG and ROSDISTRO
ARG BUILD_TAG
Expand All @@ -18,6 +18,9 @@ ARG ROSDISTRO
ARG WORKSPACE
ARG DEBIAN_FRONTEND=noninteractive

# Ensure CMAKE_PREFIX_PATH is initialized
ENV CMAKE_PREFIX_PATH="/opt/ros/${ROSDISTRO}"

# Install core dependencies using apt-get
RUN apt-get update -y && apt-get upgrade -y && \
apt-get install --no-install-recommends -y \
Expand All @@ -35,6 +38,7 @@ RUN apt-get update -y && apt-get upgrade -y && \
python3-numpy \
python3-matplotlib \
python3-colcon-common-extensions \
ros-${ROSDISTRO}-ament-cmake \
python3-rosdep && \
rm -rf /var/lib/apt/lists/*

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225 changes: 20 additions & 205 deletions src/svea_msgs/CMakeLists.txt
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@@ -1,211 +1,26 @@
cmake_minimum_required(VERSION 2.8.3)
cmake_minimum_required(VERSION 3.5) # Updated minimum required CMake version
project(svea_msgs)

## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
std_msgs
nav_msgs
geometry_msgs
message_generation
# Find dependencies
find_package(ament_cmake REQUIRED) # Changed from catkin
find_package(rosidl_default_generators REQUIRED) # Added for ROS 2 message generation
find_package(std_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)

# Specify message files
set(msg_files
"lli_ctrl.msg"
"lli_encoder.msg"
"lli_emergency.msg"
"VehicleState.msg"
)

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)


## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

################################################
## Declare ROS messages, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
add_message_files(
FILES
lli_ctrl.msg
lli_encoder.msg
lli_emergency.msg
VehicleState.msg
)

## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )

## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )

## Generate added messages and services with any dependencies listed here
generate_messages(
DEPENDENCIES
std_msgs
geometry_msgs
nav_msgs
)

################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed

## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES SVEA_msgs
CATKIN_DEPENDS message_runtime std_msgs nav_msgs geometry_msgs
# DEPENDS system_lib
# Generate messages
rosidl_generate_interfaces(${PROJECT_NAME}
${msg_files}
DEPENDENCIES std_msgs geometry_msgs nav_msgs
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(
# include
# ${catkin_INCLUDE_DIRS}
# )

## Declare a C++ library
# add_library(${PROJECT_NAME}
# src/${PROJECT_NAME}/SVEA_msgs.cpp
# )

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/SVEA_msgs_node.cpp)

## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")

## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
# ${catkin_LIBRARIES}
# )

#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )

## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_SVEA_msgs.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
# Export package
ament_package()
26 changes: 10 additions & 16 deletions src/svea_msgs/package.xml
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@@ -1,37 +1,31 @@
<?xml version="1.0"?>
<package format="2">
<package format="3"> <!-- Updated format to 3, required for ROS 2 -->
<name>svea_msgs</name>
<version>0.0.0</version>
<description>The svea_msgs package</description>

<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Maintainers -->
<maintainer email="[email protected]">Frank Jiang</maintainer>
<maintainer email="[email protected]">Kaj Munhoz Arfvidsson</maintainer>

<!-- One license tag required, multiple allowed, one license per tag -->
<!-- License -->
<license>MIT</license>

<!-- Url tags are optional, but multiple are allowed, one per tag -->
<url type="website">https://github.com/KTH-SML/svea</url>

<!-- Author tags are optional, multiple are allowed, one per tag -->
<!-- Authors -->
<author email="[email protected]">Tobias Bolin</author>
<author email="[email protected]">Frank Jiang</author>

<!-- Build tool dependency -->
<buildtool_depend>ament_cmake</buildtool_depend> <!-- Changed from catkin -->

<!-- The *depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<buildtool_depend>catkin</buildtool_depend>
<build_depend>message_generation</build_depend>
<!-- Build dependencies -->
<depend>rosidl_default_generators</depend> <!-- Added for ROS 2 message generation -->
<depend>geometry_msgs</depend>
<depend>nav_msgs</depend>
<depend>std_msgs</depend>
<exec_depend>message_runtime</exec_depend>


<!-- The export tag contains other, unspecified, tags -->
<!-- Export -->
<export>
<!-- Other tools can request additional information be placed here -->

<build_type>ament_cmake</build_type> <!-- Specify ament_cmake for ROS 2 -->
</export>
</package>
2 changes: 1 addition & 1 deletion util/config.sh
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Expand Up @@ -32,7 +32,7 @@ main() {
withdefault BUILD_PLATFORM "$(uname -m)"
withdefault BUILD_CONTEXT "$REPOSITORY_PATH"
withdefault BUILD_FILE "docker/Dockerfile.base"
withdefault BUILD_TAG "osrf/ros:${ROSDISTRO}-desktop"
withdefault BUILD_TAG "osrf/ros:${ROSDISTRO}-desktop-full"
withdefault IMAGE_TAG "ghcr.io/kth-sml/svea-base:${ROSDISTRO}"
withdefault IMAGE_PUSH "0"
elif [ "$BUILD_CONFIG" = "base-amd64" ]; then
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