Add ROS 2 lyrical images

.vscode/tasks.json

@@ -112,7 +112,7 @@
       "description": "name of the image to build",
       "options": [
         "ros2-rolling",
-        "ros2-rolling-cuda",
+        "ros2-lyrical",
         "ros2-kilted",
         "ros2-jazzy",
         "ros2-jazzy-cuda",

docker-bake.hcl

@@ -231,88 +231,61 @@ target "ros2-rolling-dev" {
   ]
 }
 
-target "ros2-rolling-desktop" {
-  context    = "ros2"
-  dockerfile = "rolling.Dockerfile"
-  target     = "desktop"
-  tags       = [
-    "${REGISTRY}/ros2:rolling-desktop",
-  ]
-}
-
-target "ros2-rolling-full" {
-  context    = "ros2"
-  dockerfile = "rolling.Dockerfile"
-  target     = "full"
-  tags       = [
-    "${REGISTRY}/ros2:rolling-full",
-  ]
-}
-
-target "ros2-rolling-gazebo" {
-  context    = "ros2"
-  dockerfile = "rolling.Dockerfile"
-  target     = "gazebo"
-  tags       = [
-    "${REGISTRY}/ros2:rolling-gazebo",
-  ]
-}
-
 # ---- group for all ros2-rolling  ----
 group "ros2-rolling" {
-  targets = ["ros2-rolling-base", "ros2-rolling-dev", "ros2-rolling-desktop", "ros2-rolling-full", "ros2-rolling-gazebo"]
+  targets = ["ros2-rolling-base", "ros2-rolling-dev"]
 }
 
-# ----------- targets for ros2-rolling-cuda -----------
+# ----------- targets for ros2-lyrical -----------
 
-target "ros2-rolling-cuda-base" {
+target "ros2-lyrical-base" {
   context    = "ros2"
-  dockerfile = "rolling-cuda.Dockerfile"
+  dockerfile = "lyrical.Dockerfile"
   target     = "base"
   tags       = [
-    "${REGISTRY}/ros2:rolling-cuda-base",
+    "${REGISTRY}/ros2:lyrical-base",
   ]
 }
 
-target "ros2-rolling-cuda-dev" {
+target "ros2-lyrical-dev" {
   context    = "ros2"
-  dockerfile = "rolling-cuda.Dockerfile"
+  dockerfile = "lyrical.Dockerfile"
   target     = "dev"
   tags       = [
-    "${REGISTRY}/ros2:rolling-cuda-dev",
+    "${REGISTRY}/ros2:lyrical-dev",
   ]
 }
 
-target "ros2-rolling-cuda-desktop" {
+target "ros2-lyrical-desktop" {
   context    = "ros2"
-  dockerfile = "rolling-cuda.Dockerfile"
+  dockerfile = "lyrical.Dockerfile"
   target     = "desktop"
   tags       = [
-    "${REGISTRY}/ros2:rolling-cuda-desktop",
+    "${REGISTRY}/ros2:lyrical-desktop",
   ]
 }
 
-target "ros2-rolling-cuda-full" {
+target "ros2-lyrical-full" {
   context    = "ros2"
-  dockerfile = "rolling-cuda.Dockerfile"
+  dockerfile = "lyrical.Dockerfile"
   target     = "full"
   tags       = [
-    "${REGISTRY}/ros2:rolling-cuda-full",
+    "${REGISTRY}/ros2:lyrical-full",
   ]
 }
 
-target "ros2-rolling-cuda-gazebo" {
+target "ros2-lyrical-gazebo" {
   context    = "ros2"
-  dockerfile = "rolling-cuda.Dockerfile"
+  dockerfile = "lyrical.Dockerfile"
   target     = "gazebo"
   tags       = [
-    "${REGISTRY}/ros2:rolling-cuda-gazebo",
+    "${REGISTRY}/ros2:lyrical-gazebo",
   ]
 }
 
-# ---- group for all ros2-rolling-cuda  ----
-group "ros2-rolling-cuda" {
-  targets = ["ros2-rolling-cuda-base", "ros2-rolling-cuda-dev", "ros2-rolling-cuda-desktop", "ros2-rolling-cuda-full", "ros2-rolling-cuda-gazebo"]
+# ---- group for all ros2-lyrical  ----
+group "ros2-lyrical" {
+  targets = ["ros2-lyrical-base", "ros2-lyrical-dev", "ros2-lyrical-desktop", "ros2-lyrical-full", "ros2-lyrical-gazebo"]
 }
 
 # ----------- targets for ros2-kilted -----------
@@ -1385,11 +1358,12 @@ group "ros-kinetic-linux-amd64" { targets = [ "ros-kinetic-base", "ros-kinetic-d
 group "ros-kinetic-linux-arm64" { targets = [ "ros-kinetic-base", "ros-kinetic-dev", "ros-kinetic-desktop", "ros-kinetic-full" ] }
 
 
-group "ros2-rolling-linux-amd64" { targets = [ "ros2-rolling-base", "ros2-rolling-dev", "ros2-rolling-desktop", "ros2-rolling-full", "ros2-rolling-gazebo" ] }
+group "ros2-rolling-linux-amd64" { targets = [ "ros2-rolling-base", "ros2-rolling-dev" ] }
 group "ros2-rolling-linux-arm64" { targets = [ "ros2-rolling-base" ] }
 
 
-group "ros2-rolling-cuda-linux-amd64" { targets = [ "ros2-rolling-cuda-base", "ros2-rolling-cuda-dev", "ros2-rolling-cuda-desktop", "ros2-rolling-cuda-full", "ros2-rolling-cuda-gazebo" ] }
+group "ros2-lyrical-linux-amd64" { targets = [ "ros2-lyrical-base", "ros2-lyrical-dev", "ros2-lyrical-desktop", "ros2-lyrical-full", "ros2-lyrical-gazebo" ] }
+group "ros2-lyrical-linux-arm64" { targets = [ "ros2-lyrical-base" ] }
 
 
 group "ros2-kilted-linux-amd64" { targets = [ "ros2-kilted-base", "ros2-kilted-dev", "ros2-kilted-desktop", "ros2-kilted-full", "ros2-kilted-gazebo" ] }
@@ -1487,14 +1461,14 @@ group "gz-garden-cuda-linux-amd64" { targets = [ "gz-garden-cuda-base", "gz-gard
 # ---------- Family-level groups (e.g., ros2, gz, ignition) ----------
 
 group "ros" { targets = [ "ros-noetic-base", "ros-noetic-dev", "ros-noetic-desktop", "ros-noetic-full", "ros-noetic-gazebo", "ros-melodic-base", "ros-melodic-dev", "ros-melodic-desktop", "ros-melodic-full", "ros-melodic-gazebo", "ros-lunar-base", "ros-lunar-dev", "ros-lunar-desktop", "ros-lunar-full", "ros-lunar-gazebo", "ros-kinetic-base", "ros-kinetic-dev", "ros-kinetic-desktop", "ros-kinetic-full", "ros-kinetic-gazebo" ] }
-group "ros2" { targets = [ "ros2-rolling-base", "ros2-rolling-dev", "ros2-rolling-desktop", "ros2-rolling-full", "ros2-rolling-gazebo", "ros2-rolling-cuda-base", "ros2-rolling-cuda-dev", "ros2-rolling-cuda-desktop", "ros2-rolling-cuda-full", "ros2-rolling-cuda-gazebo", "ros2-kilted-base", "ros2-kilted-dev", "ros2-kilted-desktop", "ros2-kilted-full", "ros2-kilted-gazebo", "ros2-jazzy-base", "ros2-jazzy-dev", "ros2-jazzy-desktop", "ros2-jazzy-full", "ros2-jazzy-gazebo", "ros2-jazzy-cuda-base", "ros2-jazzy-cuda-dev", "ros2-jazzy-cuda-desktop", "ros2-jazzy-cuda-full", "ros2-jazzy-cuda-gazebo", "ros2-iron-base", "ros2-iron-dev", "ros2-iron-desktop", "ros2-iron-full", "ros2-iron-gazebo", "ros2-iron-cuda-base", "ros2-iron-cuda-dev", "ros2-iron-cuda-desktop", "ros2-iron-cuda-full", "ros2-iron-cuda-gazebo", "ros2-humble-base", "ros2-humble-dev", "ros2-humble-desktop", "ros2-humble-full", "ros2-humble-gazebo", "ros2-humble-cuda-base", "ros2-humble-cuda-dev", "ros2-humble-cuda-desktop", "ros2-humble-cuda-full", "ros2-humble-cuda-gazebo", "ros2-galactic-base", "ros2-galactic-dev", "ros2-galactic-desktop", "ros2-galactic-full", "ros2-galactic-gazebo", "ros2-galactic-cuda-base", "ros2-galactic-cuda-dev", "ros2-galactic-cuda-desktop", "ros2-galactic-cuda-full", "ros2-galactic-cuda-gazebo", "ros2-foxy-base", "ros2-foxy-dev", "ros2-foxy-desktop", "ros2-foxy-full", "ros2-foxy-gazebo", "ros2-foxy-cuda-base", "ros2-foxy-cuda-dev", "ros2-foxy-cuda-desktop", "ros2-foxy-cuda-full", "ros2-foxy-cuda-gazebo", "ros2-eloquent-base", "ros2-eloquent-dev", "ros2-eloquent-desktop", "ros2-eloquent-full", "ros2-eloquent-gazebo", "ros2-dashing-base", "ros2-dashing-dev", "ros2-dashing-desktop", "ros2-dashing-full", "ros2-dashing-gazebo" ] }
+group "ros2" { targets = [ "ros2-rolling-base", "ros2-rolling-dev", "ros2-lyrical-base", "ros2-lyrical-dev", "ros2-lyrical-desktop", "ros2-lyrical-full", "ros2-lyrical-gazebo", "ros2-kilted-base", "ros2-kilted-dev", "ros2-kilted-desktop", "ros2-kilted-full", "ros2-kilted-gazebo", "ros2-jazzy-base", "ros2-jazzy-dev", "ros2-jazzy-desktop", "ros2-jazzy-full", "ros2-jazzy-gazebo", "ros2-jazzy-cuda-base", "ros2-jazzy-cuda-dev", "ros2-jazzy-cuda-desktop", "ros2-jazzy-cuda-full", "ros2-jazzy-cuda-gazebo", "ros2-iron-base", "ros2-iron-dev", "ros2-iron-desktop", "ros2-iron-full", "ros2-iron-gazebo", "ros2-iron-cuda-base", "ros2-iron-cuda-dev", "ros2-iron-cuda-desktop", "ros2-iron-cuda-full", "ros2-iron-cuda-gazebo", "ros2-humble-base", "ros2-humble-dev", "ros2-humble-desktop", "ros2-humble-full", "ros2-humble-gazebo", "ros2-humble-cuda-base", "ros2-humble-cuda-dev", "ros2-humble-cuda-desktop", "ros2-humble-cuda-full", "ros2-humble-cuda-gazebo", "ros2-galactic-base", "ros2-galactic-dev", "ros2-galactic-desktop", "ros2-galactic-full", "ros2-galactic-gazebo", "ros2-galactic-cuda-base", "ros2-galactic-cuda-dev", "ros2-galactic-cuda-desktop", "ros2-galactic-cuda-full", "ros2-galactic-cuda-gazebo", "ros2-foxy-base", "ros2-foxy-dev", "ros2-foxy-desktop", "ros2-foxy-full", "ros2-foxy-gazebo", "ros2-foxy-cuda-base", "ros2-foxy-cuda-dev", "ros2-foxy-cuda-desktop", "ros2-foxy-cuda-full", "ros2-foxy-cuda-gazebo", "ros2-eloquent-base", "ros2-eloquent-dev", "ros2-eloquent-desktop", "ros2-eloquent-full", "ros2-eloquent-gazebo", "ros2-dashing-base", "ros2-dashing-dev", "ros2-dashing-desktop", "ros2-dashing-full", "ros2-dashing-gazebo" ] }
 group "gazebo" { targets = [ "gazebo-gazebo11-base", "gazebo-gazebo11-dev", "gazebo-gazebo10-base", "gazebo-gazebo10-dev", "gazebo-gazebo9-base", "gazebo-gazebo9-dev" ] }
 group "ignition" { targets = [ "ignition-fortress-base", "ignition-fortress-dev", "ignition-edifice-base", "ignition-edifice-dev", "ignition-dome-base", "ignition-dome-dev", "ignition-citadel-base", "ignition-citadel-dev" ] }
 group "gz" { targets = [ "gz-jetty-base", "gz-jetty-dev", "gz-jetty-cuda-base", "gz-jetty-cuda-dev", "gz-ionic-base", "gz-ionic-dev", "gz-ionic-cuda-base", "gz-ionic-cuda-dev", "gz-harmonic-base", "gz-harmonic-dev", "gz-harmonic-cuda-base", "gz-harmonic-cuda-dev", "gz-garden-base", "gz-garden-dev", "gz-garden-cuda-base", "gz-garden-cuda-dev" ] }
 
 # ---- all non-EOL targets ----
 group "default" {
   targets = [
-    "ros2-rolling-base", "ros2-rolling-dev", "ros2-rolling-desktop", "ros2-rolling-full", "ros2-rolling-gazebo", "ros2-rolling-cuda-base", "ros2-rolling-cuda-dev", "ros2-rolling-cuda-desktop", "ros2-rolling-cuda-full", "ros2-rolling-cuda-gazebo", "ros2-kilted-base", "ros2-kilted-dev", "ros2-kilted-desktop", "ros2-kilted-full", "ros2-kilted-gazebo", "ros2-jazzy-base", "ros2-jazzy-dev", "ros2-jazzy-desktop", "ros2-jazzy-full", "ros2-jazzy-gazebo", "ros2-jazzy-cuda-base", "ros2-jazzy-cuda-dev", "ros2-jazzy-cuda-desktop", "ros2-jazzy-cuda-full", "ros2-jazzy-cuda-gazebo", "ros2-humble-base", "ros2-humble-dev", "ros2-humble-desktop", "ros2-humble-full", "ros2-humble-gazebo", "ros2-humble-cuda-base", "ros2-humble-cuda-dev", "ros2-humble-cuda-desktop", "ros2-humble-cuda-full", "ros2-humble-cuda-gazebo", "ignition-fortress-base", "ignition-fortress-dev", "gz-jetty-base", "gz-jetty-dev", "gz-jetty-cuda-base", "gz-jetty-cuda-dev", "gz-ionic-base", "gz-ionic-dev", "gz-ionic-cuda-base", "gz-ionic-cuda-dev", "gz-harmonic-base", "gz-harmonic-dev", "gz-harmonic-cuda-base", "gz-harmonic-cuda-dev"
+    "ros2-rolling-base", "ros2-rolling-dev", "ros2-lyrical-base", "ros2-lyrical-dev", "ros2-lyrical-desktop", "ros2-lyrical-full", "ros2-lyrical-gazebo", "ros2-kilted-base", "ros2-kilted-dev", "ros2-kilted-desktop", "ros2-kilted-full", "ros2-kilted-gazebo", "ros2-jazzy-base", "ros2-jazzy-dev", "ros2-jazzy-desktop", "ros2-jazzy-full", "ros2-jazzy-gazebo", "ros2-jazzy-cuda-base", "ros2-jazzy-cuda-dev", "ros2-jazzy-cuda-desktop", "ros2-jazzy-cuda-full", "ros2-jazzy-cuda-gazebo", "ros2-humble-base", "ros2-humble-dev", "ros2-humble-desktop", "ros2-humble-full", "ros2-humble-gazebo", "ros2-humble-cuda-base", "ros2-humble-cuda-dev", "ros2-humble-cuda-desktop", "ros2-humble-cuda-full", "ros2-humble-cuda-gazebo", "ignition-fortress-base", "ignition-fortress-dev", "gz-jetty-base", "gz-jetty-dev", "gz-jetty-cuda-base", "gz-jetty-cuda-dev", "gz-ionic-base", "gz-ionic-dev", "gz-ionic-cuda-base", "gz-ionic-cuda-dev", "gz-harmonic-base", "gz-harmonic-dev", "gz-harmonic-cuda-base", "gz-harmonic-cuda-dev"
   ]
 }

docker-compose/rviz/lyrical-docker-compose.yml

@@ -0,0 +1,17 @@
+ # Note: Run `xhost +local:docker` on the host before starting this container
+
+services:
+  rviz-lyrical:
+    image: althack/ros2:lyrical-full
+    environment:
+      - DISPLAY=${DISPLAY}
+      - XAUTHORITY=${XAUTHORITY}
+      - LIBGL_ALWAYS_SOFTWARE=1  # Force software rendering
+      - MESA_GL_VERSION_OVERRIDE=3.3
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix
+    network_mode: host  # Use host networking
+    stdin_open: true
+    tty: true
+    command: ros2 run rviz2 rviz2
+

ros2/README.md

@@ -18,17 +18,14 @@ rolling
 
 * [rolling-base](https://github.com/althack/dockerfiles/blob/main/ros2/rolling.Dockerfile)
 * [rolling-dev](https://github.com/althack/dockerfiles/blob/main/ros2/rolling.Dockerfile)
-* [rolling-desktop](https://github.com/althack/dockerfiles/blob/main/ros2/rolling.Dockerfile)
-* [rolling-full](https://github.com/althack/dockerfiles/blob/main/ros2/rolling.Dockerfile)
-* [rolling-gazebo](https://github.com/althack/dockerfiles/blob/main/ros2/rolling.Dockerfile)
 
-rolling-cuda
+lyrical
 
-* [rolling-cuda-base](https://github.com/althack/dockerfiles/blob/main/ros2/rolling-cuda.Dockerfile)
-* [rolling-cuda-dev](https://github.com/althack/dockerfiles/blob/main/ros2/rolling-cuda.Dockerfile)
-* [rolling-cuda-desktop](https://github.com/althack/dockerfiles/blob/main/ros2/rolling-cuda.Dockerfile)
-* [rolling-cuda-full](https://github.com/althack/dockerfiles/blob/main/ros2/rolling-cuda.Dockerfile)
-* [rolling-cuda-gazebo](https://github.com/althack/dockerfiles/blob/main/ros2/rolling-cuda.Dockerfile)
+* [lyrical-base](https://github.com/althack/dockerfiles/blob/main/ros2/lyrical.Dockerfile)
+* [lyrical-dev](https://github.com/althack/dockerfiles/blob/main/ros2/lyrical.Dockerfile)
+* [lyrical-desktop](https://github.com/althack/dockerfiles/blob/main/ros2/lyrical.Dockerfile)
+* [lyrical-full](https://github.com/althack/dockerfiles/blob/main/ros2/lyrical.Dockerfile)
+* [lyrical-gazebo](https://github.com/althack/dockerfiles/blob/main/ros2/lyrical.Dockerfile)
 
 kilted
 

ros2/humble-cuda.Dockerfile

@@ -37,14 +37,16 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     sudo \
     software-properties-common \
     wget \
-    && rm -rf /var/lib/apt/lists/*
+  && rm -rf /var/lib/apt/lists/*
 
 # Setup ROS Apt sources
-RUN curl -L -s -o /tmp/ros2-apt-source.deb https://github.com/ros-infrastructure/ros-apt-source/releases/download/1.1.0/ros2-apt-source_1.1.0.$(lsb_release -cs)_all.deb \
-    && apt-get update \
-    && apt-get install /tmp/ros2-apt-source.deb \
-    && rm -f /tmp/ros2-apt-source.deb \
-    && rm -rf /var/lib/apt/lists/*
+RUN add-apt-repository universe \
+  && export ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F'"' '{print $4}') \
+  && curl -L -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo ${UBUNTU_CODENAME:-${VERSION_CODENAME}})_all.deb" \
+  && apt-get update \
+  && apt-get install /tmp/ros2-apt-source.deb \
+  && rm -f /tmp/ros2-apt-source.deb \
+  && rm -rf /var/lib/apt/lists/*
 
 ENV ROS_DISTRO=humble
 

ros2/humble.Dockerfile

@@ -37,14 +37,16 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     sudo \
     software-properties-common \
     wget \
-    && rm -rf /var/lib/apt/lists/*
+  && rm -rf /var/lib/apt/lists/*
 
 # Setup ROS Apt sources
-RUN curl -L -s -o /tmp/ros2-apt-source.deb https://github.com/ros-infrastructure/ros-apt-source/releases/download/1.1.0/ros2-apt-source_1.1.0.$(lsb_release -cs)_all.deb \
-    && apt-get update \
-    && apt-get install /tmp/ros2-apt-source.deb \
-    && rm -f /tmp/ros2-apt-source.deb \
-    && rm -rf /var/lib/apt/lists/*
+RUN add-apt-repository universe \
+  && export ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F'"' '{print $4}') \
+  && curl -L -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo ${UBUNTU_CODENAME:-${VERSION_CODENAME}})_all.deb" \
+  && apt-get update \
+  && apt-get install /tmp/ros2-apt-source.deb \
+  && rm -f /tmp/ros2-apt-source.deb \
+  && rm -rf /var/lib/apt/lists/*
 
 ENV ROS_DISTRO=humble
 

ros2/jazzy-cuda.Dockerfile

@@ -37,14 +37,16 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     sudo \
     software-properties-common \
     wget \
-    && rm -rf /var/lib/apt/lists/*
+  && rm -rf /var/lib/apt/lists/*
 
 # Setup ROS Apt sources
-RUN curl -L -s -o /tmp/ros2-apt-source.deb https://github.com/ros-infrastructure/ros-apt-source/releases/download/1.1.0/ros2-apt-source_1.1.0.$(lsb_release -cs)_all.deb \
-    && apt-get update \
-    && apt-get install /tmp/ros2-apt-source.deb \
-    && rm -f /tmp/ros2-apt-source.deb \
-    && rm -rf /var/lib/apt/lists/*
+RUN add-apt-repository universe \
+  && export ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F'"' '{print $4}') \
+  && curl -L -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo ${UBUNTU_CODENAME:-${VERSION_CODENAME}})_all.deb" \
+  && apt-get update \
+  && apt-get install /tmp/ros2-apt-source.deb \
+  && rm -f /tmp/ros2-apt-source.deb \
+  && rm -rf /var/lib/apt/lists/*
 
 ENV ROS_DISTRO=jazzy
 

ros2/jazzy.Dockerfile

@@ -37,14 +37,16 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     sudo \
     software-properties-common \
     wget \
-    && rm -rf /var/lib/apt/lists/*
+  && rm -rf /var/lib/apt/lists/*
 
 # Setup ROS Apt sources
-RUN curl -L -s -o /tmp/ros2-apt-source.deb https://github.com/ros-infrastructure/ros-apt-source/releases/download/1.1.0/ros2-apt-source_1.1.0.$(lsb_release -cs)_all.deb \
-    && apt-get update \
-    && apt-get install /tmp/ros2-apt-source.deb \
-    && rm -f /tmp/ros2-apt-source.deb \
-    && rm -rf /var/lib/apt/lists/*
+RUN add-apt-repository universe \
+  && export ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F'"' '{print $4}') \
+  && curl -L -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo ${UBUNTU_CODENAME:-${VERSION_CODENAME}})_all.deb" \
+  && apt-get update \
+  && apt-get install /tmp/ros2-apt-source.deb \
+  && rm -f /tmp/ros2-apt-source.deb \
+  && rm -rf /var/lib/apt/lists/*
 
 ENV ROS_DISTRO=jazzy
 

ros2/kilted.Dockerfile

@@ -37,14 +37,16 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     sudo \
     software-properties-common \
     wget \
-    && rm -rf /var/lib/apt/lists/*
+  && rm -rf /var/lib/apt/lists/*
 
 # Setup ROS Apt sources
-RUN curl -L -s -o /tmp/ros2-apt-source.deb https://github.com/ros-infrastructure/ros-apt-source/releases/download/1.1.0/ros2-apt-source_1.1.0.$(lsb_release -cs)_all.deb \
-    && apt-get update \
-    && apt-get install /tmp/ros2-apt-source.deb \
-    && rm -f /tmp/ros2-apt-source.deb \
-    && rm -rf /var/lib/apt/lists/*
+RUN add-apt-repository universe \
+  && export ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F'"' '{print $4}') \
+  && curl -L -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo ${UBUNTU_CODENAME:-${VERSION_CODENAME}})_all.deb" \
+  && apt-get update \
+  && apt-get install /tmp/ros2-apt-source.deb \
+  && rm -f /tmp/ros2-apt-source.deb \
+  && rm -rf /var/lib/apt/lists/*
 
 ENV ROS_DISTRO=kilted