ROS1 Bridge ported to ROS2 humble (#248)

<!-- Thanks for the contribution, this is awesome. -->

# PR Details
## Description

<!--- Describe your changes in detail -->
This PR updates the dockerfile for ros1_bridge to support humble
inspired by:
https://github.com/TommyChangUMD/ros-humble-ros1-bridge-builder/tree/main.
Due to base image change from 20.04 to 22.04 because of Humble, ROS1
side of the installation and dependencies needed to be installed
"manually" which is captured in this Dockerfile. Also:

- It still uses USDOT's fork of the ros1_bridge which is updated to most
recent in here: usdot-fhwa-stol/ros1_bridge#27.
It needed few more extra functions from above 3rd party repo to
successfuly build for CARMA
- Currently it uses `ros:humble-ros-base-jammy` as the base image
instead of `usdotfhwastoldev/carma-base:develop-humble` image, which I
believe is leaner without all the extra dependencies that carma-base
has.

## Related GitHub Issue
NA
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issues or Jira Keys -->
<!--- If suggesting a new feature or change, please discuss it in an
issue first -->
<!--- If fixing a bug, there should be an issue describing it with steps
to reproduce -->
<!--- Please DO NOT name partially fixed issues, instead open an issue
specific to this fix -->
<!--- Please link to the issue here: -->

## Related Jira Key
[ARC-156](https://usdot-carma.atlassian.net/browse/ARC-156)
<!-- e.g. CAR-123 -->

## Motivation and Context
CARMA migration to ROS2 Humble
<!--- Why is this change required? What problem does it solve? -->

## How Has This Been Tested?
Built using dockerhub using carma-msgs Dockerifle
And tested in cdasim xil carma cloud use case 
<!--- Please describe in detail how you tested your changes. -->
<!--- Include details of your testing environment, and the tests you ran
to -->
<!--- see how your change affects other areas of the code, etc. -->

## Types of changes

<!--- What types of changes does your code introduce? Put an `x` in all
the boxes that apply: -->

- [ ] Defect fix (non-breaking change that fixes an issue)
- [X] New feature (non-breaking change that adds functionality)
- [ ] Breaking change (fix or feature that cause existing functionality
to change)

## Checklist:

<!--- Go over all the following points, and put an `x` in all the boxes
that apply. -->
<!--- If you're unsure about any of these, don't hesitate to ask. We're
here to help! -->

- [X] I have added any new packages to the sonar-scanner.properties file
- [X] My change requires a change to the documentation.
- [X] I have updated the documentation accordingly.
- [X] I have read the
[**CONTRIBUTING**](https://github.com/usdot-fhwa-stol/carma-platform/blob/develop/Contributing.md)
document.
- [X] I have added tests to cover my changes.
- [X] All new and existing tests passed.


[ARC-156]:
https://usdot-carma.atlassian.net/browse/ARC-156?atlOrigin=eyJpIjoiNWRkNTljNzYxNjVmNDY3MDlhMDU5Y2ZhYzA5YTRkZjUiLCJwIjoiZ2l0aHViLWNvbS1KU1cifQ

Dockerfile

@@ -1,13 +1,92 @@
-ARG DOCKER_ORG=usdotfhwastoldev
-ARG DOCKER_TAG=develop
-FROM ${DOCKER_ORG}/carma-base:${DOCKER_TAG} as base_image
-SHELL ["/bin/bash", "-c"]
+FROM ros:humble-ros-base-jammy as base-install
 
 ARG DEBIAN_FRONTEND="noninteractive"
+ARG GIT_BRANCH=develop-humble
+
+# Make sure bash catches errors (no need to chain commands with &&, use ; instead)
+SHELL ["/bin/bash", "-o", "pipefail", "-o", "errexit", "-c"]
+
+###########################
+# 1.) Bring system up to the latest ROS desktop configuration
+###########################
+RUN apt-get -y update
+RUN apt-get -y upgrade
+RUN apt-get -y install ros-humble-desktop
+
+###########################
+# 2.) Temporarily remove ROS2 apt repository
+###########################
+RUN mv /etc/apt/sources.list.d/ros2-latest.list /root/
+RUN apt-get update
+
+###########################
+# 3.) comment out the catkin conflict
+###########################
+RUN sed  -i -e 's|^Conflicts: catkin|#Conflicts: catkin|' /var/lib/dpkg/status
+RUN apt-get install -f
+
+###########################
+# 4.) force install these packages
+###########################
+RUN apt-get download python3-catkin-pkg
+RUN apt-get download python3-rospkg
+RUN apt-get download python3-rosdistro
+RUN dpkg --force-overwrite -i python3-catkin-pkg*.deb
+RUN dpkg --force-overwrite -i python3-rospkg*.deb
+RUN dpkg --force-overwrite -i python3-rosdistro*.deb
+RUN apt-get install -f
+
+###########################
+# 5.) Install the latest ROS1 desktop configuration
+# see https://packages.ubuntu.com/jammy/ros-desktop-dev
+# note: ros-desktop-dev automatically includes tf tf2
+###########################
+RUN apt-get -y install ros-desktop-dev --allow-downgrades --allow-remove-essential --allow-change-held-packages
+
+###########################
+# 6.) Restore the ROS2 apt repos and set compilation options.
+#     And install ROS2 dependencies for ros1_bridge
+###########################
+RUN mv /root/ros2-latest.list /etc/apt/sources.list.d/
+
+RUN apt-get -y update && apt-get install -y \
+      ros-humble-rmw \
+      ros-humble-rmw-implementation \
+      ros-humble-rmw-fastrtps-cpp \
+      ros-humble-rmw-cyclonedds-cpp \
+      wait-for-it
+
+######################################
+# 7.) Compile custom message
+######################################
+
+RUN  mkdir -p /home/carma/.base-image/ros1_msgs_ws/src/carma_msgs
+COPY . /home/carma/.base-image/ros1_msgs_ws/src/carma_msgs/
+
+# Since Noetic is not supported on Linux 22.04, this manually installs the dependency packages
+# This is outside checkout.bash to not accidentally modify during release process and 
+# not to introduce indirect dependency between install and checkout scripts
+RUN vcs import --input /home/carma/.base-image/ros1_msgs_ws/src/carma_msgs/docker/noetic-dependencies.repos \
+      /home/carma/.base-image/ros1_msgs_ws/src/
+
+RUN  mkdir -p /home/carma/.base-image/ros2_msgs_ws/src/carma_msgs
+COPY . /home/carma/.base-image/ros2_msgs_ws/src/carma_msgs/
+RUN mkdir -p /home/carma/.base-image/workspace/src
+RUN /home/carma/.base-image/ros1_msgs_ws/src/carma_msgs/docker/checkout.bash -b develop-humble -r \
+      /home/carma/.base-image/workspace
+RUN /home/carma/.base-image/ros1_msgs_ws/src/carma_msgs/docker/install.sh
+
+###########################
+# 8.) Clean up
+###########################
+RUN apt-get -y clean all; apt-get -y update
+
+###########################
+# 9.) Metadata
+###########################
 ARG VERSION="NULL"
 ARG VCS_REF="NULL"
 ARG BUILD_DATE="NULL"
-ARG GIT_BRANCH=develop 
 
 LABEL org.label-schema.schema-version="1.0" \
       org.label-schema.name="carma-msgs" \
@@ -17,14 +96,4 @@ LABEL org.label-schema.schema-version="1.0" \
       org.label-schema.url="https://highways.dot.gov/research/research-programs/CARMA" \
       org.label-schema.vcs-url="https://github.com/usdot-fhwa-stol/carma-msgs" \
       org.label-schema.vcs-ref=${VCS_REF} \
-      org.label-schema.build-date=${BUILD_DATE}
-
-RUN  mkdir -p ~/.base-image/ros1_msgs_ws/src/carma_msgs
-RUN  mkdir -p /home/carma/src
-COPY . /home/carma/.base-image/ros1_msgs_ws/src/carma_msgs/
-RUN  mkdir -p ~/.base-image/ros2_msgs_ws/src/carma_msgs
-COPY . /home/carma/.base-image/ros2_msgs_ws/src/carma_msgs/
-
-RUN /home/carma/.base-image/ros1_msgs_ws/src/carma_msgs/docker/checkout.bash -b ${GIT_BRANCH} -r /home/carma/.base-image/workspace
-
-RUN /home/carma/.base-image/ros1_msgs_ws/src/carma_msgs/docker/install.sh
+      org.label-schema.build-date=${BUILD_DATE}

carma_cmake_common/CMakeLists.txt

@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.5)
 
-project(carma_cmake_common NONE)
+project(carma_cmake_common CXX)
 
 find_package(ros_environment REQUIRED)
 

carma_debug_msgs/CMakeLists.txt

@@ -17,7 +17,7 @@
 cmake_minimum_required(VERSION 3.5)
 project(carma_debug_msgs)
 
-## Compile as C++14, supported in ROS Noetic and newer
+## Compile as c++14, supported in ROS Noetic and newer
 add_compile_options(-std=c++14)
 
 find_package(carma_cmake_common REQUIRED)

carma_debug_ros2_msgs/CMakeLists.txt

@@ -16,7 +16,7 @@
 
 cmake_minimum_required(VERSION 3.5)
 project(carma_debug_ros2_msgs)
-set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD 17)
 
 find_package(carma_cmake_common REQUIRED)
 carma_check_ros_version(2)

carma_driver_msgs/CMakeLists.txt

@@ -16,7 +16,7 @@
 
 cmake_minimum_required(VERSION 3.5)
 project(carma_driver_msgs)
-set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD 17)
 
 find_package(carma_cmake_common REQUIRED)
 carma_check_ros_version(2)

carma_localization_msgs/CMakeLists.txt

@@ -16,7 +16,7 @@
 
 cmake_minimum_required(VERSION 3.5)
 project(carma_localization_msgs)
-set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD 17)
 
 find_package(carma_cmake_common REQUIRED)
 carma_check_ros_version(2)

carma_msgs/CMakeLists.txt

@@ -16,7 +16,7 @@
 
 cmake_minimum_required(VERSION 3.5)
 project(carma_msgs)
-set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD 17)
 
 find_package(carma_cmake_common REQUIRED)
 carma_check_ros_version(2)

carma_perception_msgs/CMakeLists.txt

@@ -16,7 +16,7 @@
 
 cmake_minimum_required(VERSION 3.5)
 project(carma_perception_msgs)
-set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD 17)
 
 find_package(carma_cmake_common REQUIRED)
 carma_check_ros_version(2)

carma_planning_msgs/CMakeLists.txt

@@ -16,7 +16,7 @@
 
 cmake_minimum_required(VERSION 3.5)
 project(carma_planning_msgs)
-set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD 17)
 
 find_package(carma_cmake_common REQUIRED)
 carma_check_ros_version(2)

carma_v2x_msgs/CMakeLists.txt

@@ -16,7 +16,7 @@
 
 cmake_minimum_required(VERSION 3.5)
 project(carma_v2x_msgs)
-set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD 17)
 
 find_package(carma_cmake_common REQUIRED)
 carma_check_ros_version(2)

cav_msgs/CMakeLists.txt

@@ -17,7 +17,7 @@
 cmake_minimum_required(VERSION 3.5)
 project(cav_msgs)
 
-## Compile as C++14, supported in ROS Noetic and newer
+## Compile as c++14, supported in ROS Noetic and newer
 add_compile_options(-std=c++14)
 
 find_package(carma_cmake_common REQUIRED)

cav_srvs/CMakeLists.txt

@@ -17,7 +17,7 @@
 cmake_minimum_required(VERSION 3.5)
 project(cav_srvs)
 
-## Compile as C++14, supported in ROS Noetic and newer
+## Compile as c++14, supported in ROS Noetic and newer
 # add_compile_options(-std=c++14)
 
 find_package(carma_cmake_common REQUIRED)

docker/build-image.sh

@@ -128,12 +128,12 @@ echo "Final image name: $USERNAME/$IMAGE:$COMPONENT_VERSION_STRING"
 cd ..
 if [[ $COMPONENT_VERSION_STRING = "develop" ]]; then
     sed "s|usdotfhwastoldev/|$USERNAME/|g; s|usdotfhwastolcandidate/|$USERNAME/|g; s|usdotfhwastol/|$USERNAME/|g; s|:[0-9]*\.[0-9]*\.[0-9]*|:$COMPONENT_VERSION_STRING|g; s|checkout.bash|checkout.bash -d|g" \
-        Dockerfile | docker build -f - --no-cache -t $USERNAME/$IMAGE:$COMPONENT_VERSION_STRING \
+        Dockerfile | docker build -f - -t $USERNAME/$IMAGE:$COMPONENT_VERSION_STRING \
         --build-arg VERSION="$COMPONENT_VERSION_STRING" \
         --build-arg VCS_REF=`git rev-parse --short HEAD` \
         --build-arg BUILD_DATE=`date -u +”%Y-%m-%dT%H:%M:%SZ”` .
 elif [[ $COMPONENT_VERSION_STRING = "SNAPSHOT" ]]; then
-    docker build --network=host --no-cache -t $USERNAME/$IMAGE:$COMPONENT_VERSION_STRING \
+    docker build --network=host -t $USERNAME/$IMAGE:$COMPONENT_VERSION_STRING \
         --build-arg ROS1_PACKAGES="$ROS1_PACKAGES" \
         --build-arg ROS2_PACKAGES="$ROS2_PACKAGES" \
         --build-arg VERSION="$COMPONENT_VERSION_STRING" \
@@ -143,7 +143,7 @@ else
     #The addition of --network=host was a fix for a DNS resolution error that occured 
     #when running the platform inside an Ubuntu 20.04 virtual machine. The error and possible soliutions are 
     # discussed here: https://github.com/moby/moby/issues/41003
-    docker build --network=host --no-cache -t $USERNAME/$IMAGE:$COMPONENT_VERSION_STRING \
+    docker build --network=host -t $USERNAME/$IMAGE:$COMPONENT_VERSION_STRING \
         --build-arg VERSION="$COMPONENT_VERSION_STRING" \
         --build-arg VCS_REF=`git rev-parse --short HEAD` \
         --build-arg BUILD_DATE=`date -u +”%Y-%m-%dT%H:%M:%SZ”` .

docker/install.sh

@@ -1,33 +1,46 @@
 #!/bin/bash
 set -e
 
-# ROS 1 msgs setup
+# Prepare workspace for ROS Noetic dependencies and Autoware messages
+mkdir -p /home/carma/.base-image/ros1_msgs_ws/src/autoware.ai
+
+# Copy Autoware.ai messages into ROS1 workspace
 cp -R /home/carma/autoware.ai/messages /home/carma/.base-image/ros1_msgs_ws/src/autoware.ai/
 cp -R /home/carma/autoware.ai/jsk_common_msgs /home/carma/.base-image/ros1_msgs_ws/src/autoware.ai/
 cp -R /home/carma/autoware.ai/jsk_recognition /home/carma/.base-image/ros1_msgs_ws/src/autoware.ai/
 
-# ROS 2 msgs setup
-mkdir -p ~/.base-image/ros2_msgs_ws/src/autoware.ai
+# ROS1 CARMA message and dependency setup
+cd /home/carma/.base-image/ros1_msgs_ws
+unset ROS_DISTRO
+export ROS_VERSION=1
+colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-up-to \
+    pcl_msgs \
+    autoware_msgs cav_msgs cav_srvs j2735_v2x_msgs can_msgs carma_debug_msgs autoware_lanelet2_msgs carma_cooperative_perception_interfaces
+
+# ROS2 CARMA message setup
+mkdir -p /home/carma/.base-image/ros2_msgs_ws/src/autoware.ai
 cp -R /home/carma/autoware.ai/messages /home/carma/.base-image/ros2_msgs_ws/src/autoware.ai/
 cp -R /home/carma/autoware.ai/jsk_common_msgs /home/carma/.base-image/ros2_msgs_ws/src/autoware.ai/
 cp -R /home/carma/autoware.ai/jsk_recognition /home/carma/.base-image/ros2_msgs_ws/src/autoware.ai/
 
-# Cleanup autoware repo once messages have been moved
+# Clean up Autoware repository after moving messages
 rm -rf /home/carma/autoware.ai/
 
-# ROS1 message setup
-cd ~/.base-image/ros1_msgs_ws && source /opt/ros/noetic/setup.bash && colcon build --packages-up-to autoware_msgs cav_msgs cav_srvs j2735_v2x_msgs can_msgs carma_debug_msgs autoware_lanelet2_msgs carma_cooperative_perception_interfaces
-
-# ROS2 message setup
-cd ~/.base-image/ros2_msgs_ws && source /opt/ros/humble/setup.bash && colcon build --packages-up-to autoware_msgs autoware_lanelet2_msgs can_msgs carma_debug_ros2_msgs carma_driver_msgs carma_localization_msgs carma_msgs carma_perception_msgs carma_planning_msgs carma_v2x_msgs j2735_v2x_msgs carma_cooperative_perception_interfaces
+cd /home/carma/.base-image/ros2_msgs_ws
+source /opt/ros/humble/setup.bash
+colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-up-to \
+    autoware_msgs autoware_lanelet2_msgs can_msgs carma_debug_ros2_msgs carma_driver_msgs carma_localization_msgs \
+    carma_msgs carma_perception_msgs carma_planning_msgs carma_v2x_msgs j2735_v2x_msgs carma_cooperative_perception_interfaces
 
 # Build the bridge
-source /opt/ros/noetic/setup.bash
 source /opt/ros/humble/setup.bash
-source ~/.base-image/ros1_msgs_ws/install/local_setup.bash
-source ~/.base-image/ros2_msgs_ws/install/local_setup.bash
-cd ~/.base-image/workspace/src
-cd ../
-sudo apt-get update
-colcon build --event-handlers console_direct+ --packages-select ros1_bridge --cmake-force-configure
-sudo chmod -R ugo+x ~/.base-image/workspace/install
+source /home/carma/.base-image/ros1_msgs_ws/install/local_setup.bash
+source /home/carma/.base-image/ros2_msgs_ws/install/local_setup.bash
+cd /home/carma/.base-image/workspace/
+
+MEMG=$(printf "%.0f" $(free -g | awk '/^Mem:/{print $2}'));                 \
+NPROC=$(nproc);  MIN=$((MEMG<NPROC ? MEMG : NPROC));                        \
+echo "Please wait...  running $MIN concurrent jobs to build ros1_bridge";   \
+time MAKEFLAGS="-j $MIN" colcon build --event-handlers console_direct+      \
+    --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-select ros1_bridge --cmake-force-configure
+sudo chmod -R ugo+x /home/carma/.base-image/workspace/install

docker/noetic-dependencies.repos

@@ -0,0 +1,5 @@
+repositories:
+    pcl_msgs:
+        type: git
+        url: https://github.com/ros-perception/pcl_msgs.git
+        version: noetic-devel

j3224_v2x_msgs/CMakeLists.txt

@@ -16,7 +16,7 @@
 
 cmake_minimum_required(VERSION 3.5)
 project(j3224_v2x_msgs)
-set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD 17)
 
 find_package(carma_cmake_common REQUIRED)
 carma_package()