build: use iron as ros2 distro (#53)

aica-technology · Sep 27, 2023 · fe19373 · fe19373
1 parent 03e8323
commit fe19373
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Showing 9 changed files with 22 additions and 12 deletions.
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -10,9 +10,10 @@ Release Versions:
 
 ## Upcoming changes (in development)
 
-- feat: add on_step_callback for component (#51)
-- build: unify dockerfiles and add vs code configuration (#50)
 - Revise test stage to fail on test errors (#48)
+- build: unify dockerfiles and add vs code configuration (#50)
+- feat: add on_step_callback for component (#51)
+- build: use iron as ros2 distro (#53)
 
 ## 3.0.0
 

diff --git a/Dockerfile b/Dockerfile
@@ -1,6 +1,6 @@
 #syntax=docker/dockerfile:1.4.0
-ARG CL_VERSION=v7.1.1
-ARG ROS2_VERSION=humble
+ARG CL_VERSION=v7.2.0
+ARG ROS2_VERSION=iron
 FROM ghcr.io/aica-technology/control-libraries:${CL_VERSION} as cl
 FROM ghcr.io/aica-technology/ros2-ws:${ROS2_VERSION} as base
 # setup the environment

diff --git a/VERSION b/VERSION
@@ -1 +1 @@
-3.0.3
+3.0.4
diff --git a/build.sh b/build.sh
@@ -3,8 +3,8 @@
 IMAGE_NAME=ghcr.io/aica-technology/modulo
 IMAGE_TAG=latest
 
-ROS2_VERSION=humble
-CL_VERSION=v7.1.1
+ROS2_VERSION=iron
+CL_VERSION=v7.2.0
 
 SSH_PORT=4440
 
@@ -17,6 +17,12 @@ Options:
   --cl-version <VERSION>   Specify the version of the control libraries image to use.
                            (default: $CL_VERSION)
 
+  --ros2-version <VERSION> Specify the version of ROS 2 to use.
+                           (default: $ROS2_VERSION)
+
+  --tag <TAG>              Specify the tag of the generated image.
+                           (default: $IMAGE_TAG)
+
   -v|--verbose             Set the build output to verbose.
 
   --cache-id <id>          Invalidate the mount cache (e.g. CMake build folder)
@@ -35,6 +41,8 @@ while [ "$#" -gt 0 ]; do
     --test) BUILD_FLAGS+=(--target=test); TEST=1; IMAGE_TAG=test; shift 1;;
     -s|--serve) BUILD_FLAGS+=(--target build); SERVE_REMOTE=1; IMAGE_TAG=build; shift 1;;
     --cl-version) CL_VERSION=$2; shift 2;;
+    --ros2-version) ROS2_VERSION=$2; shift 2;;
+    --tag) IMAGE_TAG=$2; shift 2;;
     -v|--verbose) BUILD_FLAGS+=(--progress=plain); shift 1;;
     --cache-id) BUILD_FLAGS+=(--build-arg CACHEID=$2); shift 2;;
     -r|--no-cache) BUILD_FLAGS+=(--no-cache); BUILD_FLAGS+=(--build-arg CACHEID=$(date +%s)); shift 1;;
@@ -50,6 +58,7 @@ if [ "$((TEST + SERVE_REMOTE))" -gt 1 ]; then
 fi
 
 BUILD_FLAGS+=(--build-arg CL_VERSION="${CL_VERSION}")
+BUILD_FLAGS+=(--build-arg ROS2_VERSION="${ROS2_VERSION}")
 BUILD_FLAGS+=(-t "${IMAGE_NAME}:${IMAGE_TAG}")
 
 DOCKER_BUILDKIT=1 docker build "${BUILD_FLAGS[@]}" . || exit 1

diff --git a/doxygen/doxygen.conf b/doxygen/doxygen.conf
@@ -38,7 +38,7 @@ PROJECT_NAME           = "Modulo"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER = 3.0.3
+PROJECT_NUMBER = 3.0.4
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a

diff --git a/source/modulo_component_interfaces/package.xml b/source/modulo_component_interfaces/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>modulo_component_interfaces</name>
-  <version>3.0.3</version>
+  <version>3.0.4</version>
   <description>Interface package for communicating with modulo components through the ROS framework</description>
   <maintainer email="[email protected]">Enrico Eberhard</maintainer>
   <license>GPLv3</license>

diff --git a/source/modulo_components/package.xml b/source/modulo_components/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>modulo_components</name>
-  <version>3.0.3</version>
+  <version>3.0.4</version>
   <description>Modulo base classes that wrap ROS2 Nodes as modular components for the AICA application framework</description>
   <maintainer email="[email protected]">Baptiste Busch</maintainer>
   <maintainer email="[email protected]">Enrico Eberhard</maintainer>

diff --git a/source/modulo_core/package.xml b/source/modulo_core/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>modulo_core</name>
-  <version>3.0.3</version>
+  <version>3.0.4</version>
   <description>Modulo Core communication and translation utilities for interoperability with AICA Control Libraries</description>
   <maintainer email="[email protected]">Baptiste Busch</maintainer>
   <maintainer email="[email protected]">Enrico Eberhard</maintainer>

diff --git a/source/modulo_utils/package.xml b/source/modulo_utils/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>modulo_utils</name>
-  <version>3.0.3</version>
+  <version>3.0.4</version>
   <description>Modulo utils package for shared test fixtures</description>
   <maintainer email="[email protected]">Dominic Reber</maintainer>
   <license>GPLv3</license>