ROS1 Bridge ported to ROS2 humble #248
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<!-- Thanks for the contribution, this is awesome. --> # PR Details ## Description This PR brings our fork up to date with the ros2 repo that allows the ros1_bridge to build with all the autoware and carma messages. This PR also merges ROS action support from here https://github.com/smith-doug/ros1_bridge/tree/action_bridge_humble This PR also updates all github action versions and removes `required-ros-distributions: "noetic rolling"` which is intended to install the ROS versions from distribution because ROS1 noetic is not available on 22.04 anymore. By removing it, the `setup-ros` action installs it from source. <!--- Describe your changes in detail --> ## Related GitHub Issue NA <!--- This project only accepts pull requests related to open GitHub 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 Upgrade 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 in usdot-fhwa-stol/carma-msgs#248 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 --------- Signed-off-by: Jorge Perez <jjperez@ekumenlabs.com> Signed-off-by: Marco Bassa <marco@robotcloud.eu> Signed-off-by: Tim Clephas <tim.clephas@nobleo.nl> Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> Signed-off-by: Chris Lalancette <clalancette@openrobotics.org> Signed-off-by: Michael Carroll <michael@openrobotics.org> Signed-off-by: methylDragon <methylDragon@gmail.com> Signed-off-by: quarkytale <dharini@openrobotics.org> Signed-off-by: Dharini Dutia <dharini@openrobotics.org> Signed-off-by: Andrej Orsula <orsula.andrej@gmail.com> Signed-off-by: Derek King <derek.king@zebra.com> Signed-off-by: Loy van Beek <loy.vanbeek@mojin-robotics.de> Signed-off-by: Nicholas Sims <nicholas.d.sims@gmail.com> Signed-off-by: Harsh Deshpande <harshavardhan.deshpande@ipa.fraunhofer.de> Signed-off-by: Victor Lopez <victor.lopez@pal-robotics.com> Signed-off-by: Olivier Kermorgant <olivier_kermorgant@yahoo.fr> Signed-off-by: Douglas Smith <douglas.smith@swri.org> Signed-off-by: dependabot[bot] <support@github.com> Co-authored-by: Jorge Perez <jjperez@ekumenlabs.com> Co-authored-by: Marco Bassa <bassamarco91@gmail.com> Co-authored-by: Tim Clephas <tim.clephas@nobleo.nl> Co-authored-by: Tomoya Fujita <Tomoya.Fujita@sony.com> Co-authored-by: Cem Karan <ckaran@users.noreply.github.com> Co-authored-by: Geoffrey Biggs <gbiggs@killbots.net> Co-authored-by: Chris Lalancette <clalancette@openrobotics.org> Co-authored-by: Michael Carroll <michael@openrobotics.org> Co-authored-by: methylDragon <methylDragon@gmail.com> Co-authored-by: quarkytale <dharini@openrobotics.org> Co-authored-by: xlla <xlla@users.noreply.github.com> Co-authored-by: Loy van Beek <LoyVanBeek@users.noreply.github.com> Co-authored-by: Andrej Orsula <orsula.andrej@gmail.com> Co-authored-by: Derek <derek.king@zebra.com> Co-authored-by: Audrow Nash <audrow@openrobotics.org> Co-authored-by: Nick Sims <n.sims@unsw.edu.au> Co-authored-by: Harsh Deshpande <harshavardhan.deshpande@ipa.fraunhofer.de> Co-authored-by: Victor Lopez <victor.lopez@pal-robotics.com> Co-authored-by: Victor Lopez <3469405+v-lopez@users.noreply.github.com> Co-authored-by: Olivier Kermorgant <olivier_kermorgant@yahoo.fr> Co-authored-by: Douglas Smith <douglas.smith@swri.org> Co-authored-by: Felipe Inostroza <pepeinostroza@gmail.com> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>
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PR Details
Description
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:
ros:humble-ros-base-jammyas the base image instead ofusdotfhwastoldev/carma-base:develop-humbleimage, which I believe is leaner without all the extra dependencies that carma-base has.Related GitHub Issue
NA
Related Jira Key
ARC-156
Motivation and Context
CARMA migration to ROS2 Humble
How Has This Been Tested?
Built using dockerhub using carma-msgs Dockerifle
And tested in cdasim xil carma cloud use case
Types of changes
Checklist: