First working building. fix: colcon build because of catkin used in c…

…makefiles.

docker/Dockerfile.base

@@ -1,7 +1,8 @@
-# Dockerfile for base SVEA image
+# Dockerfile for base SVEA image (ROS2 Jazzy Jalisco)
 #
 # Author: Kaj Munhoz Arfvidsson
 
+# Dynamically set the base image using BUILD_TAG and ROSDISTRO
 ARG BUILD_TAG
 ARG ROSDISTRO
 ARG WORKSPACE
@@ -12,37 +13,45 @@ ARG WORKSPACE
 
 FROM ${BUILD_TAG:-ros:latest}
 
+# Arguments for dynamic configuration
 ARG ROSDISTRO
 ARG WORKSPACE
 ARG DEBIAN_FRONTEND=noninteractive
 
-## Install dependencies from apt-get
-
-RUN apt-get update -y && \
-    apt-get upgrade -y && \
+# Install core dependencies using apt-get
+RUN apt-get update -y && apt-get upgrade -y && \
     apt-get install --no-install-recommends -y \
-        apt-utils lsb-release \
-        build-essential cmake \
-        git vim nano curl iputils-ping \
+        apt \
+        lsb-release \
+        build-essential \
+        cmake \
+        git \
+        vim \
+        nano \
+        curl \
+        inetutils-ping \
         python3-tk \
         python3-pip \
         python3-numpy \
         python3-matplotlib \
-        python3-catkin-tools \
-        && \
-    python3 -m pip install -U pip && \
+        python3-colcon-common-extensions \
+        python3-rosdep && \
     rm -rf /var/lib/apt/lists/*
 
-## Create svea workspace
 
+# Initialize rosdep for resolving dependencies
+RUN rosdep init || echo "rosdep already initialized"
+RUN rosdep update --rosdistro $ROSDISTRO
+
+# Create the SVEA workspace
 WORKDIR $WORKSPACE
 
-# Need to copy src and util separately because docker COPY rules are iffy.
-# https://docs.docker.com/engine/reference/builder/#copy
+# Copy workspace files and utilities
 COPY src ./src
 COPY util ./util
 COPY entrypoint requirements.txt ./
 
+# Install ROS2 dependencies and Python packages
 RUN cp -f entrypoint /ros_entrypoint.sh && \
     apt-get update -y && \
     rosdep update \
@@ -54,20 +63,13 @@ RUN cp -f entrypoint /ros_entrypoint.sh && \
         --ignore-src \
         -qry \
         && \
-    pip install -r requirements.txt && \
+    pip install -r requirements.txt --break-system-packages && \
     rm -rf /var/lib/apt/lists/*
 
-# Run catkin build on workspace (improves build speeds later on).
-RUN catkin config \
-        --init \
-        --mkdirs \
-        --extend /opt/ros/$ROSDISTRO \
-        > /dev/null \
-        && \
-    catkin build
-
-##  Container entrypoint (executes util/entrypoint)
+# Build workspace
+RUN colcon build --symlink-install
 
+# Container entrypoint (executes util/entrypoint)
 ENTRYPOINT ["/ros_entrypoint.sh"]
 
 # bash is run by default when user starts

entrypoint

@@ -1,6 +1,6 @@
 #! /bin/bash
 #
-# This entrypoint script will be called everytime a container is started.
+# This entrypoint script will be called every time a container is started.
 #
 # Author: Kaj Munhoz Arfvidsson
 
@@ -9,15 +9,22 @@ set -e
 # Get project information
 source util/config.sh
 
-# Set ROS_IP etc. for e.g. rviz remote connection
+# Set ROS_IP etc. for e.g., RViz remote connection
 # https://stackoverflow.com/a/65912397
 remote_ros() { source util/remote_ros.sh; }; remote_ros
 
-# To build anything that has been added by volume...
-catkin build
+# Build the ROS2 workspace if files have been added or modified by volume
+if [ -d "$WORKSPACE/src" ]; then
+    echo "Building the ROS2 workspace..."
+    . /opt/ros/$ROSDISTRO/setup.bash
+    colcon build --symlink-install --base-paths "$WORKSPACE"
+fi
 
-# https://github.com/osrf/docker_images/issues/114
-printf "\nsource '$PWD/devel/setup.bash'" >> $HOME/.bashrc
+# Source the ROS2 workspace setup file
+if [ -f "$WORKSPACE/install/setup.bash" ]; then
+    printf "\nsource '$WORKSPACE/install/setup.bash'" >> $HOME/.bashrc
+    . "$WORKSPACE/install/setup.bash"
+fi
 
+# Execute the container's command
 exec "$@"
-

requirements.txt

@@ -13,4 +13,4 @@ pyubx2
 geopy
 utm
 # This is for NMPC
-casadi==3.5.5
+casadi>=3.6.0,<4.0.0

util/config.sh

@@ -13,12 +13,12 @@ main() {
 
     withdefault DEBUG "0"
 
-    withdefault ROSDISTRO       "noetic"
+    withdefault ROSDISTRO       "jazzy"
     withdefault WORKSPACE       "/svea_ws"
     withdefault REPOSITORY_PATH "$(climb entrypoint)"
     withdefault REPOSITORY_NAME "$(basename "$REPOSITORY_PATH")"
+    withdefault BUILD_CONFIG    "base"
 
-    withdefault BUILD_CONFIG    "default"
     if [ "$BUILD_CONFIG" = "default" ]; then
         # building for host platform
         withdefault BUILD_PLATFORM  "$(uname -m)"
@@ -32,8 +32,8 @@ main() {
         withdefault BUILD_PLATFORM  "$(uname -m)"
         withdefault BUILD_CONTEXT   "$REPOSITORY_PATH"
         withdefault BUILD_FILE      "docker/Dockerfile.base"
-        withdefault BUILD_TAG       "ros:$ROSDISTRO"
-        withdefault IMAGE_TAG       "ghcr.io/kth-sml/svea:latest"
+        withdefault BUILD_TAG       "osrf/ros:${ROSDISTRO}-desktop"
+        withdefault IMAGE_TAG       "ghcr.io/kth-sml/svea-base:${ROSDISTRO}"
         withdefault IMAGE_PUSH      "0"
     elif [ "$BUILD_CONFIG" = "base-amd64" ]; then
         # building for x86_64