feat: Add ROS 2 Iron (#56)

.github/dependabot.yml

@@ -10,11 +10,8 @@ updates:
       - "Type: CI"
 
   - package-ecosystem: "docker"
-    directory: "/foxy"
-    schedule:
-      interval: "daily"
-
-  - package-ecosystem: "docker"
-    directory: "/humble"
+    directories:
+      - "/humble"
+      - "/iron"
     schedule:
       interval: "daily"

.github/workflows/deploy.yml

@@ -29,6 +29,7 @@ jobs:
           - foxy
           - galactic
           - humble
+          - iron
 
     steps:
       - name: Checkout

.github/workflows/test.yml

@@ -24,8 +24,23 @@ jobs:
           - foxy
           - galactic
           - humble
+          - iron
 
     steps:
+      - name: Free Up GitHub Actions Ubuntu Runner Disk Space
+        uses: hirnidrin/free-disk-space@main
+        # uses: jlumbroso/free-disk-space@main
+        with:
+          # This might remove tools that are actually needed, if set to "true" but frees about 6 GB
+          tool-cache: false
+          # All of these default to true, but feel free to set to "false" if necessary for your workflow
+          android: true
+          dotnet: true
+          haskell: true
+          large-packages: true
+          docker-images: false
+          swap-storage: true
+
       - name: Checkout
         uses: actions/checkout@v3
 

iron/Dockerfile

@@ -0,0 +1,36 @@
+FROM ubuntu:jammy-20240427 AS builder
+RUN apt-get update
+RUN apt-get install -y curl
+RUN apt-get install -y --no-install-recommends gcc libc-dev
+RUN curl -o /usr/local/bin/su-exec.c https://raw.githubusercontent.com/ncopa/su-exec/master/su-exec.c
+RUN gcc -Wall /usr/local/bin/su-exec.c -o/usr/local/bin/su-exec
+RUN chown root:root /usr/local/bin/su-exec
+RUN chmod 0755 /usr/local/bin/su-exec
+
+
+FROM ubuntu:jammy-20240427
+ARG TARGETPLATFORM
+LABEL maintainer="Daisuke Sato <tiryoh@gmail.com>"
+RUN apt-get update -q && \
+    apt-get upgrade -yq && \
+    DEBIAN_FRONTEND=noninteractive apt-get install -yq --no-install-recommends keyboard-configuration language-pack-en && \
+    DEBIAN_FRONTEND=noninteractive apt-get install -yq --no-install-recommends wget curl git build-essential ca-certificates tzdata tmux gnupg2 \
+        vim sudo lsb-release locales bash-completion zsh iproute2 iputils-ping net-tools dnsutils && \
+    rm -rf /var/lib/apt/lists/*
+ENV LANG=en_US.UTF-8 LANGUAGE=en_US:en LC_ALL=en_US.UTF-8
+RUN locale-gen en_US.UTF-8
+ENV ROS_DISTRO=iron
+RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
+    echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null && \
+    apt-get update && \
+    apt-get install -y --no-install-recommends ros-${ROS_DISTRO}-desktop && \
+    apt-get install -y --no-install-recommends python3-argcomplete python3-colcon-common-extensions python3-rosdep python3-colcon-mixin python3-vcstool && \
+    if [ ! "$TARGETPLATFORM" = "linux/arm64" ]; then apt-get install -y --no-install-recommends ros-${ROS_DISTRO}-gazebo-ros-pkgs; fi && \
+    apt-get install -y --no-install-recommends ros-${ROS_DISTRO}-xacro ros-${ROS_DISTRO}-joint-state-publisher-gui && \
+    rm -rf /var/lib/apt/lists/*
+RUN rosdep init && \
+    rosdep update
+COPY --from=builder /usr/local/bin/su-exec /sbin/
+COPY ./ros_entrypoint.sh /
+ENTRYPOINT ["/ros_entrypoint.sh"]
+CMD ["/bin/bash"]

iron/ros_entrypoint.sh

@@ -0,0 +1,62 @@
+#!/bin/bash
+set -e
+
+DEFAULT_USER=${DEFAULT_USER:-'ubuntu'}
+DEFAULT_USER_UID=${USER_UID:-'1000'}
+DEFAULT_USER_GID=${USER_GID:-'1000'}
+NOPASSWD=${NOPASSWD:-''} # set 'NOPASSWD:' to disable asking sudo password
+
+if [[ $(id -u) -eq 0 ]]; then
+	echo "Set disable_coredump false" >> /etc/sudo.conf
+else
+	echo "Set disable_coredump false" | sudo tee -a /etc/sudo.conf > /dev/null
+fi
+
+# override if $USER env exists
+if [[ ! -z "$USER" ]]; then
+	DEFAULT_USER=$USER
+fi
+
+# create development user
+if [[ $(id -u) -eq 0 ]]; then
+	EXEC="exec /sbin/su-exec ${DEFAULT_USER}"
+
+	# create_user
+	if [[ ! -e /home/${DEFAULT_USER} ]]; then
+		groupadd -g "${DEFAULT_USER_GID}" "${DEFAULT_USER}"
+		useradd --create-home --home-dir /home/${DEFAULT_USER} --uid ${DEFAULT_USER_UID} --shell /bin/bash \
+		    --gid ${DEFAULT_USER_GID} --groups sudo ${DEFAULT_USER}
+		echo "${DEFAULT_USER}:${DEFAULT_USER}" | chpasswd && \
+		echo "${DEFAULT_USER} ALL=(ALL) ${NOPASSWD}ALL" >> /etc/sudoers
+		touch /home/${DEFAULT_USER}/.sudo_as_admin_successful
+	fi
+
+	# setup ros environment
+	mkdir -p /home/${DEFAULT_USER}/ros2_ws/src \
+	echo 'source /opt/ros/${ROS_DISTRO}/setup.bash' >> /home/${DEFAULT_USER}/.bashrc
+
+	chown -R ${DEFAULT_USER}:${DEFAULT_USER} /home/${DEFAULT_USER}
+
+	# mount develop workspace
+	if [ -e /ws ]; then
+	ln -s /ws /home/${DEFAULT_USER}/ros2_ws/src
+	fi
+
+	DEFAULT_USER_UID="$(${EXEC} id -u)"
+	DEFAULT_USER_GID="$(${EXEC} id -g)"
+else # use existing user
+	EXEC="exec"
+	DEFAULT_USER="$(whoami)"
+	DEFAULT_USER_UID="$(id -u)"
+	DEFAULT_USER_GID="$(id -g)"
+fi
+
+echo "Launched container with user: $DEFAULT_USER, uid: $DEFAULT_USER_UID, gid: $DEFAULT_USER_GID"
+
+if which "$1" > /dev/null 2>&1 ; then
+	source /opt/ros/${ROS_DISTRO}/setup.bash
+	$EXEC "$@"
+else
+	echo $@ | $EXEC $SHELL -li
+fi
+