Remove dual ROS 1+2 devcontainer, remove ROS Galactic from the support matrix

.devcontainer/Dockerfile

@@ -1,4 +1,17 @@
-FROM ros:noetic-ros-core
+ARG ROS_DISTRIBUTION=humble
+FROM ros:$ROS_DISTRIBUTION-ros-base
+
+# Install clang and set as default compiler.
+RUN apt-get update && apt-get install -y --no-install-recommends \
+  clang \
+  && rm -rf /var/lib/apt/lists/*
+
+ENV CC=clang
+ENV CXX=clang++
+
+# Set environment and working directory
+ENV ROS_WS /ros2_ws
+WORKDIR $ROS_WS
 
 # Install system dependencies
 RUN apt-get update && apt-get install -y --no-install-recommends \
@@ -11,90 +24,32 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
   git \
   git-lfs \
   gnupg \
-  lsb-release \
-  openssh-client \
-  python3-catkin-tools \
-  python3-colcon-common-extensions \
-  python3-pip \
-  python3-rosdep \
-  python3-rosinstall \
-  python3-rosinstall-generator \
-  python3-wstool \
+  libasio-dev \
+  libboost-all-dev \
+  libssl-dev \
+  libwebsocketpp-dev \
+  nlohmann-json3-dev \
   strace \
-  sudo \
-  && rm -rf /var/lib/apt/lists/*
-
-ENV CC=clang
-ENV CXX=clang++
-
-# Authorize the ROS 2 GPG key and add the ROS 2 apt repository
-RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
-RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu focal main" > /etc/apt/sources.list.d/ros2.list
-
-# Install ROS 2
-RUN apt-get update && apt-get install -y --no-install-recommends \
-  ros-galactic-foxglove-msgs \
-  ros-galactic-ros-core \
-  ros-galactic-rosbag2 \
-  ros-galactic-rosbag2-storage-mcap \
-  ros-galactic-tf2-msgs \
   && rm -rf /var/lib/apt/lists/*
 
-# Create a non-root user
-# Taken from https://code.visualstudio.com/remote/advancedcontainers/add-nonroot-user#_creating-a-nonroot-user
-ARG USERNAME=vscode
-ARG USER_UID=1000
-ARG USER_GID=$USER_UID
-
-# Create the user
-RUN groupadd --gid $USER_GID $USERNAME \
-    && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \
-    #
-    # [Optional] Add sudo support. Omit if you don't need to install software after connecting.
-    && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
-    && chmod 0440 /etc/sudoers.d/$USERNAME
-
-# [Optional] Set the default user. Omit if you want to keep the default as root.
-USER $USERNAME
+# Add package.xml so we can install package dependencies
+COPY package.xml src/ros-foxglove-bridge/
 
-COPY --chown=$USERNAME:$USERNAME package.xml /ros_ws/src/ros-foxglove-bridge/package.xml
-
-# Initialize rosdep
-RUN sudo rosdep init && rosdep update --include-eol-distros
-
-# Install rosdep dependencies for ROS 1
-RUN . /opt/ros/noetic/setup.sh && \
-    sudo apt-get update && rosdep update && rosdep install -y \
-      --from-paths /ros_ws/src \
+# Install rosdep dependencies
+RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
+    apt-get update && rosdep update --include-eol-distros && rosdep install -y \
+      --from-paths \
+        src \
       --ignore-src \
-    && sudo rm -rf /var/lib/apt/lists/*
-
-# Install rosdep dependencies for ROS 2
-RUN . /opt/ros/galactic/setup.sh && \
-    sudo apt-get update && rosdep update --include-eol-distros && rosdep install -y \
-      --from-paths /ros_ws/src \
-      --ignore-src \
-    && sudo rm -rf /var/lib/apt/lists/*
-
-RUN catkin config --init --install \
-  --workspace /ros_ws \
-  --extend /opt/ros/noetic \
-  --build-space build_ros1 \
-  --devel-space devel_ros1 \
-  --install-space install_ros1 \
-  --log-space log_ros1
+    && rm -rf /var/lib/apt/lists/*
 
 ENV COLCON_DEFAULTS_FILE=/ros_ws/src/ros-foxglove-bridge/.devcontainer/colcon_defaults.yaml
 
 SHELL ["/bin/bash", "-c"]
 
-# Unset the ROS_DISTRO and add aliases to .bashrc
+# Add aliases to .bashrc
 RUN echo $'\
-unset ROS_DISTRO\n\
-alias ros1_build_debug="catkin build -DCMAKE_BUILD_TYPE=Debug"\n\
-alias ros1_build_release="catkin build -DCMAKE_BUILD_TYPE=RelWithDebInfo"\n\
-alias ros1_foxglove_bridge="/ros_ws/install_ros1/env.sh roslaunch foxglove_bridge foxglove_bridge.launch --screen"\n\
-alias ros2_build_debug="source /opt/ros/galactic/setup.bash && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Debug"\n\
-alias ros2_build_release="source /opt/ros/galactic/setup.bash && colcon build --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo"\n\
+alias ros2_build_debug="source /opt/ros/humble/setup.bash && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Debug"\n\
+alias ros2_build_release="source /opt/ros/humble/setup.bash && colcon build --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo"\n\
 alias ros2_foxglove_bridge="source /ros_ws/install_ros2/setup.bash && ros2 run foxglove_bridge foxglove_bridge --ros-args --log-level debug --log-level rcl:=INFO"\n\
 ' >> ~/.bashrc

.devcontainer/devcontainer.json

@@ -1,7 +1,6 @@
 // -*- jsonc -*-
 {
-  // ROS 1 / ROS 2 hybrid dev environment
-  "name": "ROS 1 + 2",
+  "name": "ROS 2",
   "workspaceFolder": "/ros_ws/src/ros-foxglove-bridge",
   "workspaceMount": "source=${localWorkspaceFolder},target=/ros_ws/src/ros-foxglove-bridge,type=bind,consistency=cached",
   "dockerFile": "./Dockerfile",
@@ -32,7 +31,5 @@
   },
   "capAdd": [
     "SYS_PTRACE"
-  ],
-  // Uncomment to connect as root instead. More info: https://aka.ms/dev-containers-non-root.
-  "remoteUser": "vscode"
+  ]
 }

.github/workflows/ci.yml

@@ -21,7 +21,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        ros_distribution: [melodic, noetic, galactic, humble, iron, rolling]
+        ros_distribution: [melodic, noetic, humble, iron, rolling]
 
     name: Test (ROS ${{ matrix.ros_distribution }})
     runs-on: ubuntu-latest

.vscode/c_cpp_properties.json

@@ -5,14 +5,14 @@
       "name": "Linux",
       "includePath": [
         "${workspaceFolder}/**",
-        "/opt/ros/galactic/include/**",
+        "/opt/ros/humble/include/**",
         "/opt/ros/noetic/include/**",
         "/usr/include/**"
       ],
       "browse": {
         "path": [
           "${workspaceFolder}",
-          "/opt/ros/galactic/include",
+          "/opt/ros/humble/include",
           "/opt/ros/noetic/include",
           "/usr/include"
         ]

Makefile

@@ -1,5 +1,5 @@
 ROS1_DISTRIBUTIONS := melodic noetic
-ROS2_DISTRIBUTIONS := galactic humble iron rolling
+ROS2_DISTRIBUTIONS := humble iron rolling
 
 define generate_ros1_targets
 .PHONY: $(1)

README.md

@@ -3,7 +3,6 @@ foxglove_bridge
 
 [![ROS Melodic version](https://img.shields.io/ros/v/melodic/foxglove_bridge)](https://index.ros.org/p/foxglove_bridge/github-foxglove-ros-foxglove-bridge/#melodic)
 [![ROS Noetic version](https://img.shields.io/ros/v/noetic/foxglove_bridge)](https://index.ros.org/p/foxglove_bridge/github-foxglove-ros-foxglove-bridge/#noetic)
-[![ROS Galactic version](https://img.shields.io/ros/v/galactic/foxglove_bridge)](https://index.ros.org/p/foxglove_bridge/github-foxglove-ros-foxglove-bridge/#galactic)
 [![ROS Humble version](https://img.shields.io/ros/v/humble/foxglove_bridge)](https://index.ros.org/p/foxglove_bridge/github-foxglove-ros-foxglove-bridge/#humble)
 [![ROS Iron version](https://img.shields.io/ros/v/iron/foxglove_bridge)](https://index.ros.org/p/foxglove_bridge/github-foxglove-ros-foxglove-bridge/#iron)
 [![ROS Rolling version](https://img.shields.io/ros/v/rolling/foxglove_bridge)](https://index.ros.org/p/foxglove_bridge/github-foxglove-ros-foxglove-bridge/#rolling)
@@ -121,7 +120,7 @@ A VSCode container is provided with a dual ROS 1 and ROS 2 installation and
 enough tools to build and run the bridge. Some bash aliases are defined to simplify the common workflow. Here's an example of building and running the ROS 2 node:
 
 ```bash
-source /opt/ros/galactic/setup.bash
+source /opt/ros/humble/setup.bash
 ros2_build_debug  # or ros2_build_release
 ros2_foxglove_bridge
 ```
@@ -135,7 +134,7 @@ To test the bridge with example data, open another terminal and download the tes
 Then start playback:
 
 ```bash
-source /opt/ros/galactic/setup.bash
+source /opt/ros/humble/setup.bash
 ros2 bag play -l --clock 100 -s mcap data/nuScenes-v1.0-mini-scene-0061-ros2.mcap
 ```