feat!: upgrade to jazzy on noble (#13)

* feat: update to use the noble image

* fix: use branch of mypy generator for rolling

* feat: use gcc14, node20, apt pkgs for rr and sccache

.github/workflows/publish.yml

@@ -64,23 +64,23 @@ jobs:
         echo Published ${{ needs.release.outputs.published }}
         echo Version ${{ needs.release.outputs.version }}
 
-        docker manifest create ghcr.io/greenroom-robotics/ros_builder:iron-latest \
-          ghcr.io/greenroom-robotics/ros_builder:iron-latest-amd64 \
-          ghcr.io/greenroom-robotics/ros_builder:iron-latest-arm64
+        docker manifest create ghcr.io/greenroom-robotics/ros_builder:jazzy-latest \
+          ghcr.io/greenroom-robotics/ros_builder:jazzy-latest-amd64 \
+          ghcr.io/greenroom-robotics/ros_builder:jazzy-latest-arm64
         
-        docker manifest create ghcr.io/greenroom-robotics/ros_builder:iron-latest-cuda \
-          ghcr.io/greenroom-robotics/ros_builder:iron-latest-cuda-amd64 \
-          ghcr.io/greenroom-robotics/ros_builder:iron-latest-cuda-arm64
+        docker manifest create ghcr.io/greenroom-robotics/ros_builder:jazzy-latest-cuda \
+          ghcr.io/greenroom-robotics/ros_builder:jazzy-latest-cuda-amd64 \
+          ghcr.io/greenroom-robotics/ros_builder:jazzy-latest-cuda-arm64
         
-        docker manifest create ghcr.io/greenroom-robotics/ros_builder:iron-${{ needs.release.outputs.version }} \
-          ghcr.io/greenroom-robotics/ros_builder:iron-${{ needs.release.outputs.version }}-amd64 \
-          ghcr.io/greenroom-robotics/ros_builder:iron-${{ needs.release.outputs.version }}-arm64
+        docker manifest create ghcr.io/greenroom-robotics/ros_builder:jazzy-${{ needs.release.outputs.version }} \
+          ghcr.io/greenroom-robotics/ros_builder:jazzy-${{ needs.release.outputs.version }}-amd64 \
+          ghcr.io/greenroom-robotics/ros_builder:jazzy-${{ needs.release.outputs.version }}-arm64
 
-        docker manifest create ghcr.io/greenroom-robotics/ros_builder:iron-${{ needs.release.outputs.version }}-cuda \
-          ghcr.io/greenroom-robotics/ros_builder:iron-${{ needs.release.outputs.version }}-cuda-amd64 \
-          ghcr.io/greenroom-robotics/ros_builder:iron-${{ needs.release.outputs.version }}-cuda-arm64
+        docker manifest create ghcr.io/greenroom-robotics/ros_builder:jazzy-${{ needs.release.outputs.version }}-cuda \
+          ghcr.io/greenroom-robotics/ros_builder:jazzy-${{ needs.release.outputs.version }}-cuda-amd64 \
+          ghcr.io/greenroom-robotics/ros_builder:jazzy-${{ needs.release.outputs.version }}-cuda-arm64
 
-        docker manifest push ghcr.io/greenroom-robotics/ros_builder:iron-latest
-        docker manifest push ghcr.io/greenroom-robotics/ros_builder:iron-latest-cuda
-        docker manifest push ghcr.io/greenroom-robotics/ros_builder:iron-${{ needs.release.outputs.version }}
-        docker manifest push ghcr.io/greenroom-robotics/ros_builder:iron-${{ needs.release.outputs.version }}-cuda
+        docker manifest push ghcr.io/greenroom-robotics/ros_builder:jazzy-latest
+        docker manifest push ghcr.io/greenroom-robotics/ros_builder:jazzy-latest-cuda
+        docker manifest push ghcr.io/greenroom-robotics/ros_builder:jazzy-${{ needs.release.outputs.version }}
+        docker manifest push ghcr.io/greenroom-robotics/ros_builder:jazzy-${{ needs.release.outputs.version }}-cuda

Dockerfile

@@ -23,7 +23,7 @@ RUN echo 'debconf debconf/frontend select Noninteractive' | debconf-set-selectio
   echo 'wireshark-common wireshark-common/install-setuid boolean true' | debconf-set-selections
 
 # install packages
-RUN apt-get update && apt-get install -q -y --no-install-recommends \
+RUN apt-get update && apt-get dist-upgrade -q -y && apt-get install -q -y --no-install-recommends \
     less \
     dirmngr \
     gnupg2 \
@@ -32,14 +32,14 @@ RUN apt-get update && apt-get install -q -y --no-install-recommends \
     && rm -rf /var/lib/apt/lists/*
 
 # setup ros2 apt sources
-RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(source /etc/os-release && echo $UBUNTU_CODENAME) main" > /etc/apt/sources.list.d/ros2.list
-RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/vulcanexus-archive-keyring.gpg] http://repo.vulcanexus.org/debian $(source /etc/os-release && echo $UBUNTU_CODENAME) main" > /etc/apt/sources.list.d/vulcanexus.list
+RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2-testing/ubuntu $(source /etc/os-release && echo $UBUNTU_CODENAME) main" > /etc/apt/sources.list.d/ros2.list
+# RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/vulcanexus-archive-keyring.gpg] http://repo.vulcanexus.org/debian $(source /etc/os-release && echo $UBUNTU_CODENAME) main" > /etc/apt/sources.list.d/vulcanexus.list
 RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/gazebo-stable-keyring.gpg]  http://packages.osrfoundation.org/gazebo/ubuntu-stable $(source /etc/os-release && echo $UBUNTU_CODENAME) main" > /etc/apt/sources.list.d/gazebo-stable.list
 
 # setup keys
 RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \
-  && curl -sSL https://raw.githubusercontent.com/eProsima/vulcanexus/main/vulcanexus.key -o /usr/share/keyrings/vulcanexus-archive-keyring.gpg \
   && curl -sSL https://packages.osrfoundation.org/gazebo.key | gpg --dearmor -o /usr/share/keyrings/gazebo-stable-keyring.gpg
+# && curl -sSL https://raw.githubusercontent.com/eProsima/vulcanexus/main/vulcanexus.key -o /usr/share/keyrings/vulcanexus-archive-keyring.gpg \
 
 # setup environment
 ENV LANG C.UTF-8
@@ -49,10 +49,12 @@ ENV LC_ALL C.UTF-8
 RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
     apt-get update && apt-get install --no-install-recommends -y \
     build-essential \
-    gcc-12-base \
-    g++-12 \
+    gcc-14-base \
+    g++-14 \
     gdb \
+    rr \
     cmake \
+    sccache \
     debhelper \
     dh-python \
     dpkg-dev \
@@ -75,18 +77,19 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
     ros-${ROS_DISTRO}-ros-core \
     ros-${ROS_DISTRO}-geographic-msgs \
     ros-${ROS_DISTRO}-example-interfaces \
-    vulcanexus-${ROS_DISTRO}-core \
     wget
 
-RUN curl -L https://github.com/mozilla/sccache/releases/download/v0.7.7/sccache-v0.7.7-$(uname -m)-unknown-linux-musl.tar.gz | tar zx --wildcards "*/sccache" --strip-components 1 --directory=/usr/bin
-RUN curl -L https://github.com/rr-debugger/rr/releases/download/5.7.0/rr-5.7.0-Linux-$(uname -m).deb --output rr.deb && dpkg --install rr.deb && rm rr.deb
+    # vulcanexus-${ROS_DISTRO}-core \
+
+# RUN curl -L https://github.com/mozilla/sccache/releases/download/v0.7.7/sccache-v0.7.7-$(uname -m)-unknown-linux-musl.tar.gz | tar zx --wildcards "*/sccache" --strip-components 1 --directory=/usr/bin
+# RUN curl -L https://github.com/rr-debugger/rr/releases/download/5.7.0/rr-5.7.0-Linux-$(uname -m).deb --output rr.deb && dpkg --install rr.deb && rm rr.deb
 
 # set gcc version to latest available on ubuntu rel
-RUN update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-12 12 && \
-    update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-12 12 && \
-    update-alternatives --install /usr/bin/gcc-ar gcc-ar /usr/bin/gcc-ar-12 12 && \
-    update-alternatives --install /usr/bin/gcc-nm gcc-nm /usr/bin/gcc-nm-12 12 && \
-    update-alternatives --install /usr/bin/gcc-ranlib gcc-ranlib /usr/bin/gcc-ranlib-12 12
+RUN update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-14 14 && \
+    update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-14 14 && \
+    update-alternatives --install /usr/bin/gcc-ar gcc-ar /usr/bin/gcc-ar-14 14 && \
+    update-alternatives --install /usr/bin/gcc-nm gcc-nm /usr/bin/gcc-nm-14 14 && \
+    update-alternatives --install /usr/bin/gcc-ranlib gcc-ranlib /usr/bin/gcc-ranlib-14 14
 
 # bootstrap rosdep
 RUN rosdep init && \
@@ -106,18 +109,19 @@ RUN curl -sL https://deb.nodesource.com/setup_20.x | bash -
 # install yarn and pyright
 RUN apt-get install -y nodejs && npm install --global yarn pyright
 
-RUN pip install pre-commit
+RUN pip install --break-system-packages pre-commit
 
 # Install Greenroom fork of bloom
-RUN pip install https://github.com/Greenroom-Robotics/bloom/archive/refs/heads/gr.zip
+RUN pip install --break-system-packages https://github.com/Greenroom-Robotics/bloom/archive/refs/heads/gr.zip
 
 # Install Greenroom's rosdep fork which allows installation from URLs and specific versions with downgrades
 RUN apt-get remove python3-rosdep -y
-RUN pip install -U https://github.com/Greenroom-Robotics/rosdep/archive/refs/heads/greenroom.zip
+RUN pip install --break-system-packages -U https://github.com/Greenroom-Robotics/rosdep/archive/refs/heads/greenroom.zip
 
-RUN useradd --create-home --home /home/ros --shell /bin/bash --uid 1000 ros && \
+RUN usermod --move-home --home /home/ros --login ros ubuntu && \
+    usermod -a -G audio,video,sudo,plugdev,dialout ros && \
     passwd -d ros && \
-    usermod -a -G audio,video,sudo,plugdev,dialout ros
+    groupmod --new-name ros ubuntu
 
 # Build external source packages
 WORKDIR /home/ros
@@ -145,4 +149,5 @@ RUN rm -f /etc/apt/apt.conf.d/docker-clean; echo 'Binary::apt::APT::Keep-Downloa
 USER ros
 
 # Install poetry as ros user
-RUN curl -sSL https://install.python-poetry.org | python3 -
+# RUN curl -sSL https://install.python-poetry.org | python3 -
+RUN pip install --break-system-packages poetry

README.md

@@ -13,10 +13,10 @@ This builds a base ROS 2 docker image used for building Greenroom packages.
 
 There are 4 different variations of `ros_builder`. See [ghcr](https://github.com/Greenroom-Robotics/ros_builder/pkgs/container/ros_builder). These are
 
-* ` ghcr.io/greenroom-robotics/ros_builder:iron-lastest` **AMD64**
-* ` ghcr.io/greenroom-robotics/ros_builder:iron-lastest-cuda` **AMD64**
-* ` ghcr.io/greenroom-robotics/ros_builder:iron-lastest` **ARM64**
-* ` ghcr.io/greenroom-robotics/ros_builder:iron-lastest-cuda` **ARM64**
+* ` ghcr.io/greenroom-robotics/ros_builder:jazzy-lastest` **AMD64**
+* ` ghcr.io/greenroom-robotics/ros_builder:jazzy-lastest-cuda` **AMD64**
+* ` ghcr.io/greenroom-robotics/ros_builder:jazzy-lastest` **ARM64**
+* ` ghcr.io/greenroom-robotics/ros_builder:jazzy-lastest-cuda` **ARM64**
 
 ## Releasing
 
@@ -31,4 +31,4 @@ Trigger the [publish.yml](./.github/workflows/publish.yml) github action
 *This will be fast(er) to build but slow to upload.*
 
 * `yarn version --patch|minor|major`
-* `python3 scripts/docker-build.py --version 1.0.0 --arch amd64 --ros_distro iron`
+* `python3 scripts/docker-build.py --version 1.0.0 --arch amd64 --ros_distro jazzy`

external.repos

@@ -1,4 +1,4 @@
 - git:
     local-name: rosidl_generator_mypy
     uri: https://github.com/Greenroom-Robotics/rosidl_generator_mypy
-    version: master
+    version: feature/fix-deprecation

release.config.amd64.js

@@ -14,8 +14,8 @@ module.exports = {
       [
         "@semantic-release/exec",
         {
-          "prepareCmd": "scripts/docker-build.py --version ${nextRelease.version} --arch amd64 --ros_distro iron",
-          "publishCmd": "scripts/docker-build.py --version ${nextRelease.version} --arch amd64 --ros_distro iron --push true"
+          "prepareCmd": "scripts/docker-build.py --version ${nextRelease.version} --arch amd64 --ros_distro jazzy",
+          "publishCmd": "scripts/docker-build.py --version ${nextRelease.version} --arch amd64 --ros_distro jazzy --push true"
         }
       ],
       [

release.config.arm64.js

@@ -14,8 +14,8 @@ module.exports = {
       [
         "@semantic-release/exec",
         {
-          "prepareCmd": "scripts/docker-build.py --version ${nextRelease.version} --arch arm64 --ros_distro iron",
-          "publishCmd": "scripts/docker-build.py --version ${nextRelease.version} --arch arm64 --ros_distro iron --push true"
+          "prepareCmd": "scripts/docker-build.py --version ${nextRelease.version} --arch arm64 --ros_distro jazzy",
+          "publishCmd": "scripts/docker-build.py --version ${nextRelease.version} --arch arm64 --ros_distro jazzy --push true"
         }
       ]
     ],

scripts/docker-build.py

@@ -5,8 +5,8 @@
 from typing import List, Dict
 
 
-UBUNTU_VERSION = "22.04"
-UBUNTU_CODENAME = "jammy"
+UBUNTU_VERSION = "24.04"
+UBUNTU_CODENAME = "noble"
 CUDA_VERSION = "11.7.1-devel-ubuntu22.04"
 
 ENV = Dict[str, str]
@@ -47,16 +47,16 @@ def build_image(base_image: str, ros_distro: str, arch: str, tags: List[str], pu
 
 
     # Build images
-    build_image(
-        base_image=f"nvidia/cuda:{CUDA_VERSION}",
-        ros_distro=args.ros_distro,
-        arch=args.arch,
-        tags=[
-            f"ghcr.io/greenroom-robotics/ros_builder:{args.ros_distro}-{args.version}-cuda-{args.arch}",
-            f"ghcr.io/greenroom-robotics/ros_builder:{args.ros_distro}-latest-cuda-{args.arch}"
-        ],
-        push=args.push,
-    )
+    # build_image(
+    #     base_image=f"nvidia/cuda:{CUDA_VERSION}",
+    #     ros_distro=args.ros_distro,
+    #     arch=args.arch,
+    #     tags=[
+    #         f"ghcr.io/greenroom-robotics/ros_builder:{args.ros_distro}-{args.version}-cuda-{args.arch}",
+    #         f"ghcr.io/greenroom-robotics/ros_builder:{args.ros_distro}-latest-cuda-{args.arch}"
+    #     ],
+    #     push=args.push,
+    # )
     build_image(
         base_image=f"ubuntu:{UBUNTU_CODENAME}",
         ros_distro=args.ros_distro,