Merge pull request #152 from xfiderek/issue/142

Pin navigation2 repos and simplify docker build (#142).

nav2_demo/README.md

@@ -22,23 +22,23 @@ Start the space_nav2 container and launch the navigation2 nodes:
 
 ```
 ./run.sh
-ros2 launch nav2_bringup navigation_launch.py use_sim_time:=True params_file:=nav2_params.yaml
+ros2 launch space_nav2_bringup navigation_launch.py use_sim_time:=True params_file:=nav2_params.yaml
 ```
 
 ## Terminal 3 - launch localization with map
 
 ```
 docker exec -it osrf_space_nav2_demo bash
 source install/setup.bash
-ros2 launch nav2_bringup localization_launch.py use_sim_time:=True map:=mars_map.yaml
+ros2 launch space_nav2_bringup localization_launch.py use_sim_time:=True map:=mars_map.yaml params_file:=nav2_params.yaml
 ```
 
 ## Terminal 4 - launch Rviz
 
 Exec into the same space_nav2 container and launch Rviz2:
 
 ```
-docker exec -it -e DISPLAY=:0 osrf_space_nav2_demo bash
+docker exec -it -e DISPLAY osrf_space_nav2_demo bash
 source /opt/ros/humble/setup.bash
 source install/setup.bash
 ros2 launch nav2_bringup rviz_launch.py

navigation2/Dockerfile

@@ -41,69 +41,36 @@ LABEL org.label-schema.vcs-ref=${VCS_REF}
 # Disable prompting during package installation
 ARG DEBIAN_FRONTEND=noninteractive
 
+SHELL ["/bin/bash", "-c"]
+
 # Define workspace locations
 ENV NAVIGATION2_WS=${HOME_DIR}/nav2_ws
-ENV NAV2_DEPS_WS=${HOME_DIR}/nav2_deps_ws
 
-# Get the Navigation2 source code
 RUN mkdir -p ${NAVIGATION2_WS}/src
-WORKDIR ${NAVIGATION2_WS}/src
-ARG NAV2_BRANCH=humble
-RUN sudo git clone --branch $NAV2_BRANCH https://github.com/ros-navigation/navigation2.git
 
-# Get keys for Nav2 dependencies
 WORKDIR ${NAVIGATION2_WS}/
-SHELL ["/bin/bash", "-c"]
-RUN source ${SPACEROS_DIR}/install/setup.bash && sudo apt update && rosdep keys --from-paths src --ignore-src --rosdistro humble -y > ${NAVIGATION2_WS}/nav2_dep_keys.txt
-
-# Get rosinstall_generator
-RUN sudo apt-get update -y && sudo apt-get install -y python3-rosinstall-generator
-
-# Clone Space ROS sources temporarily as input to rosinstall_generator
-RUN mkdir ${SPACEROS_DIR}/src \
-  && vcs import ${SPACEROS_DIR}/src < ${SPACEROS_DIR}/exact.repos
-
-# Generate repos file for nav2 dependencies, exclude packages from Space ROS src
-RUN rosinstall_generator \
-  --rosdistro ${ROS_DISTRO} \
-  --deps \
-  --exclude-path ${SPACEROS_DIR}/src -- \
-  -- $(cat ${NAVIGATION2_WS}/nav2_dep_keys.txt) \
-  > ${NAVIGATION2_WS}/nav2_deps.repos
-
-# Remove unneeded src files now that repos are generated
-RUN rm -rf ${SPACEROS_DIR}/src
-
-# Get the repositories required by Nav2
-RUN mkdir -p ${NAV2_DEPS_WS}/src
-WORKDIR ${NAV2_DEPS_WS}
-RUN sudo vcs import src < ${NAVIGATION2_WS}/nav2_deps.repos
-
-# Update the ownership of the source files
-RUN sudo chown -R ${USERNAME}:${USERNAME} ${NAV2_DEPS_WS}
-
-# Install nav2_deps_ws dependencies
-SHELL ["/bin/bash", "-c"]
-RUN source ${SPACEROS_DIR}/install/setup.bash && sudo apt update && rosdep install --from-paths src --ignore-src --rosdistro humble -y \
-      --skip-keys "composition demo_nodes_py ikos lifecycle rmw_connextdds rmw_fastrtps_dynamic_cpp rmw_fastrtps_cpp \
-                   rosidl_typesupport_fastrtps_c rosidl_typesupport_fastrtps_cpp urdfdom_headers"
-
-# Build dependencies
-RUN source ${SPACEROS_DIR}/install/setup.bash && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON
-
-# Install remaining nav2 dependencies (not in rosdistro)
-WORKDIR ${NAVIGATION2_WS}
-SHELL ["/bin/bash", "-c"]
-RUN source ${NAV2_DEPS_WS}/install/setup.bash && sudo apt update && rosdep install --from-paths src --ignore-src --rosdistro humble -y \
-      --skip-keys "composition demo_nodes_py ikos lifecycle rmw_connextdds rmw_fastrtps_dynamic_cpp rmw_fastrtps_cpp \
-                   rosidl_typesupport_fastrtps_c rosidl_typesupport_fastrtps_cpp urdfdom_headers"
-
-# Build Navigation2
-SHELL ["/bin/bash", "-c"]
-RUN source ${NAV2_DEPS_WS}/install/setup.bash && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON
 
-# Install rviz2 to send goals to Nav2
-RUN sudo apt update && sudo apt install -y ros-humble-rviz2
+COPY navigation2.repos .
+COPY excluded-pkgs.txt .
+RUN vcs import --shallow src < navigation2.repos
+COPY --chown=spaceros-user:spaceros-user src/ src
+
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,target=/var/lib/apt,sharing=locked \ 
+    source ${SPACEROS_DIR}/install/setup.bash && \
+    sudo apt update && \
+    rosdep install -i --from-path src --skip-keys $(cat excluded-pkgs.txt) -y
+RUN source ${SPACEROS_DIR}/install/setup.bash && \
+    colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON --no-warn-unused-cli
+RUN rm -rf src build log
+
+
+# Install rviz2 to send goals to Nav2. 
+# TODO(xfiderek): Remove rviz2 and humble-nav2 froms this image
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,target=/var/lib/apt,sharing=locked \  
+    sudo apt update && \
+    sudo apt install -y ros-humble-rviz2 ros-humble-nav2-bringup
 
 # Set up the entrypoint
 COPY ./entrypoint.sh /

navigation2/README.md

@@ -1,7 +1,9 @@
 # Navigation2 Docker Image
 
 The Navigation2 Docker image uses the Space ROS docker image (*osrf/space-ros:latest*) as its base image.
-The Navigation2 Dockerfile installs all of the prerequisite system dependencies to build Navigation2
+The Navigation2 Dockerfile installs all of the prerequisite system dependencies to build Navigation2.
+All the required nav2 packages are cloned and built from sources using the `navigation2.repos` file. The `nav2_rviz_plugins` and `nav2_bringup` packages together with their dependencies (Rviz, Gazebo, etc) are excluded to reduce package dependencies. The image also contains a custom `space_nav2_bringup` package that can be used as a starting point for creating mission-specific nav2 launch files.
+
 ## Building the Navigation2 Image
 
 To build the docker image, run:
@@ -33,8 +35,7 @@ The output will look something like this:
 ```
 REPOSITORY              TAG                        IMAGE ID       CREATED        SIZE
 osrf/space_nav2         latest                     6edb2edc9643   10 hours ago   15.5GB
-openrobotics/spaceros   latest                     629b13cf7b74   12 hours ago   7.8GB
-nvidia/cudagl           11.4.1-devel-ubuntu20.04   336416dfcbba   1 week ago     5.35GB
+osrf/space-ros           latest                     629b13cf7b74   12 hours ago   7.8GB
 ```
 
 The new image is named **osrf/space_nav2:latest**.
@@ -45,13 +46,34 @@ There is a run.sh script provided for convenience that will run the spaceros ima
 ./run.sh
 ```
 
-Upon startup, the container automatically runs the entrypoint.sh script, which sources the MoveIt2 and Space ROS environment files.
+Upon startup, the container automatically runs the entrypoint.sh script, which sources the Nav2 and Space ROS environment files.
 You'll now be running inside the container and should see a prompt similar to this:
 
 ```
-root@ip-your-ip-address:/home/spaceros-user/nav2_ws#
+spaceros-user@ip-your-ip-address:/home/spaceros-user/nav2_ws#
 ```
 
 ## Running Navigation2 Demo
 
-To run the latest demo, see the README in the nav2_demos folder
+To run the latest demo, see the README in the [nav2_demo](../nav2_demo/README.md) folder.
+
+## Updating navigation2 packages
+
+The `navigation2.repos` file available in this repository provides a list of repos that are required to build the nav2 stack. ROS packages already included in the SpaceROS base image are omited from this file.
+
+To update navigation2 packages used to build the space nav2 image, run the `docker_update_nav2_repos.sh` script:
+
+```
+./docker_update_nav2_repos.sh
+```
+
+This will update the `navigation2.repos` file with the newest versions of nav2 packages. The script resolves missing packages in base spaceros image and creates a list with their latest versions. The `navigation2.repos` file is then copied during build to the docker image with space nav2, and packages specified in the file are cloned and installed.
+
+By default, this update nav2 repositories using the latest released version of the Space ROS base image (typically `osrf/space-ros:latest`).
+If building locally, the underlying base image can be set in the through the environment with:
+
+```
+SPACE_ROS_IMAGE=osrf/space-ros:main ./docker_update_nav2_repos.sh
+```
+
+To generate a list of required packages for any other ROS workspace (e.g. your custom workspace built on top of SpaceROS that already has some nav2 dependencies installed), consider using the `update_nav2_repos.sh` as your starting point. You may also need to clone `generate-repos.sh` script from the main spaceros repository.

navigation2/docker_update_nav2_repos.sh

@@ -0,0 +1,8 @@
+#!/bin/bash
+SPACE_ROS_IMAGE="${SPACE_ROS_IMAGE:-osrf/space-ros:latest}"
+
+docker run --rm \
+    -v ./:/home/spaceros-user/mount/ \
+    -w /home/spaceros-user/mount/ \
+    $SPACE_ROS_IMAGE \
+    bash -c './update_nav2_repos.sh'

navigation2/excluded-pkgs.txt

@@ -0,0 +1 @@
+nav2_rviz_plugins

navigation2/navigation2-pkgs.txt

@@ -0,0 +1 @@
+navigation2