Remove Ubuntu 18.04 support (#754)

nasa · Nov 17, 2023 · 035e0e9 · 035e0e9
1 parent 30e3f71
commit 035e0e9
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Showing 17 changed files with 22 additions and 271 deletions.
diff --git a/.github/workflows/ci_pr.yml b/.github/workflows/ci_pr.yml
@@ -23,22 +23,6 @@ jobs:
       run: ./scripts/docker/build.sh --xenial --remote
                                      astrobee test_astrobee
 
-  build-bionic:
-
-    runs-on: ubuntu-20.04
-
-    steps:
-    - uses: actions/checkout@v3
-      with:
-        fetch-depth: 0
-
-    - name: Checkout submodule
-      run: git submodule update --init --depth 1 description/media
-
-    - name: Build, test
-      run: ./scripts/docker/build.sh --bionic --remote
-                                     astrobee test_astrobee
-
   build-focal:
 
     runs-on: ubuntu-20.04

diff --git a/.github/workflows/ci_push.yml b/.github/workflows/ci_push.yml
@@ -44,42 +44,6 @@ jobs:
         echo "$command";
         eval "$command";
 
-  build-bionic:
-
-    runs-on: ubuntu-20.04
-
-    steps:
-    - uses: actions/checkout@v3
-
-    - name: Checkout submodule
-      run: git submodule update --init --depth 1 description/media
-
-    - name: Log in to registry
-      run: echo "${{ secrets.GITHUB_TOKEN }}" | docker login ghcr.io -u ${{ github.repository_owner }} --password-stdin
-
-    - name: Build, test, push docker
-      run: >
-        revision="latest";
-        build_arg="astrobee";
-        push_arg="";
-        branch=${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}};
-        if [ "${{ github.repository_owner }}" == "nasa" ]; then
-          if [ $branch == "develop" ]; then
-            push_arg="push_astrobee";
-          fi;
-          if [ $branch == "master" ]; then
-            export VERSION=`grep -w -m 1 "Release" RELEASE.md | awk '{print $3}'`;
-            revision="v${VERSION}";
-            build_arg="astrobee_base astrobee";
-            push_arg="push_astrobee_base push_astrobee";
-          fi;
-        fi;
-        command="./scripts/docker/build.sh --bionic --remote --revision ${revision} \
-                                     --owner ${{ github.repository_owner }} \
-                                     ${build_arg} test_astrobee ${push_arg}";
-        echo "$command";
-        eval "$command";
-
   build-focal:
 
     runs-on: ubuntu-20.04

diff --git a/.github/workflows/docker_push_latest_base.yml b/.github/workflows/docker_push_latest_base.yml
@@ -26,24 +26,6 @@ jobs:
                                      --owner ${{ github.repository_owner }}
                                      astrobee_base astrobee test_astrobee push_astrobee_base
 
-  build-bionic:
-
-    runs-on: ubuntu-20.04
-
-    steps:
-    - uses: actions/checkout@v3
-
-    - name: Checkout submodule
-      run: git submodule update --init --depth 1 description/media
-
-    - name: Log in to registry
-      run: echo "${{ secrets.GITHUB_TOKEN }}" | docker login ghcr.io -u ${{ github.repository_owner }} --password-stdin
-
-    - name: Build base, build, test, push base docker
-      run: ./scripts/docker/build.sh --bionic
-                                     --owner ${{ github.repository_owner }}
-                                     astrobee_base astrobee test_astrobee push_astrobee_base
-
   build-focal:
 
     runs-on: ubuntu-20.04

diff --git a/INSTALL.md b/INSTALL.md
@@ -6,9 +6,11 @@ Ubuntu 20.04 is the preferred host OS for most Astrobee developers to use.
 
 Here are the available host OS options with development roadmap details (use 64-bit PC (AMD64) desktop image):
 - [Ubuntu 20.04](http://releases.ubuntu.com/20.04): This is the preferred host OS for most Astrobee developers to use. The Astrobee Facility team is currently preparing to upgrade the robots on ISS from Ubuntu 16.04 to Ubuntu 20.04, but we aren't yet ready to announce a deployment date for that upgrade.
-- [Ubuntu 18.04](http://releases.ubuntu.com/18.04): We are not aware of any current robot users that still need Ubuntu 18.04 support, and expect to discontinue support in the near future. New users should not select this host OS.
 - [Ubuntu 16.04](http://releases.ubuntu.com/16.04): The Astrobee robot hardware on ISS currently runs Ubuntu 16.04. Only developers with NASA internal access can cross-compile software to run on the robot, and must use 16.04 for that. Most developers shouldn't need to work with 16.04, especially when just getting started. Support will eventually be discontinued after the robot hardware on ISS is upgraded to Ubuntu 20.04.
-(Ubuntu 22.04 not supported)
+
+Specifically not supported:
+- ~~[Ubuntu 18.04](http://releases.ubuntu.com/18.04)~~: Ubuntu 18.04 support as a software development platform was discontinued as of November 2023. (It was never supported on the robot hardware.)
+- ~~[Ubuntu 22.04](http://releases.ubuntu.com/22.04)~~: There is currently no plan for Ubuntu 22.04 support on the Astrobee roadmap. However, note that Astrobee ROS2 support, when it eventually becomes available, is currently expected to use the ROS2 Humble Hawksbill distribution that normally runs on 22.04, but backported to run on 20.04 (the last Ubuntu version supported by ROS1). This will facilitate migrating from ROS1 to ROS2 without requiring a simultaneous Ubuntu distribution upgrade.
 
 Graphical interfaces will perform best if your host OS is running natively (not in a virtual machine).
 

diff --git a/doc/general_documentation/code_style.md b/doc/general_documentation/code_style.md
@@ -1,3 +1,3 @@
 \page astrobee-code-style Astrobee code style
 
-The Astrobee code uses [cpplint](https://en.wikipedia.org/wiki/Cpplint) to enforce a consistent and uniform coding style. Code which fails this tool cannot be committed with Git. It is suggested that the [clang-format-8](https://launchpad.net/ubuntu/bionic/+package/clang-format-8) program be installed on your machine. The *git commit* command will invoke this tool which will fix most (but not all) of the formatting errors using as a guide the ``.clang-format`` style file at the base of the Astrobee repository.
+The Astrobee code uses [cpplint](https://en.wikipedia.org/wiki/Cpplint) to enforce a consistent and uniform coding style. Code which fails this tool cannot be committed with Git. It is suggested that the [clang-format-8](https://launchpad.net/ubuntu/focal/+package/clang-format-8) program be installed on your machine. The *git commit* command will invoke this tool which will fix most (but not all) of the formatting errors using as a guide the ``.clang-format`` style file at the base of the Astrobee repository.
diff --git a/scripts/configure.sh b/scripts/configure.sh
@@ -266,8 +266,6 @@ ff_path=`canonicalize ${rootpath}`
 DIST=`cat /etc/os-release | grep -oP "(?<=VERSION_CODENAME=).*"`
 if [ "$DIST" = "xenial" ]; then
     ros_version=kinetic
-elif [ "$DIST" = "bionic" ]; then
-    ros_version=melodic
 elif [ "$DIST" = "focal" ]; then
     ros_version=noetic
 fi

diff --git a/scripts/docker/build.sh b/scripts/docker/build.sh
@@ -23,7 +23,6 @@ usage: build.sh [-h] [-x] [-b] [-f] [-r] [-o <owner>] [-d]
 
 -h or --help: Print this help
 -x or --xenial: Build Ubuntu 16.04 docker images
--b or --bionic: Build Ubuntu 18.04 docker images
 -f or --focal: Build Ubuntu 20.04 docker images
 -r or --remote: Build first target on top of a pre-built remote image
 -o or --owner: Set ghcr.io owner for push action (default: nasa)
@@ -55,8 +54,8 @@ usage()
 # Parse options 1 (validate and normalize with getopt)
 ######################################################################
 
-shortopts="h,x,b,f,r,o:,v:,d"
-longopts="help,xenial,bionic,focal,remote,owner:,revision:,dry-run"
+shortopts="h,x,f,r,o:,v:,d"
+longopts="help,xenial,focal,remote,owner:,revision:,dry-run"
 opts=$(getopt -a -n build.sh --options "$shortops" --longoptions "$longopts" -- "$@")
 if [ $? -ne 0 ]; then
     echo
@@ -91,8 +90,6 @@ while [ "$1" != "" ]; do
                                    ;;
         --xenial )                 os="xenial"
                                    ;;
-        --bionic )                 os="bionic"
-                                   ;;
         --focal )                  os="focal"
                                    ;;
         --remote )                 remote="true"
@@ -158,11 +155,7 @@ UBUNTU_VERSION=16.04
 ROS_VERSION=kinetic
 PYTHON=''
 
-if [ "$os" = "bionic" ]; then
-    UBUNTU_VERSION=18.04
-    ROS_VERSION=melodic
-    PYTHON=''
-elif [ "$os" = "focal" ]; then
+if [ "$os" = "focal" ]; then
     UBUNTU_VERSION=20.04
     ROS_VERSION=noetic
     PYTHON='3'

diff --git a/scripts/docker/readme.md b/scripts/docker/readme.md
@@ -151,7 +151,7 @@ All pre-built remote images are available on [GitHub here](https://github.com/na
 
 By default, the build script will automatically detect your host's Ubuntu OS version and configure the Docker image to use the same version using `Dockerfile` `ARGS`.
 
-However, there is no requirement for the host OS and the Docker image OS to match.  You can override the default and select a specific Docker image Ubuntu version by specifying `--xenial`, `--bionic`, or `--focal` for Ubuntu 16.04, 18.04, or 20.04 docker images, respectively.
+However, there is no requirement for the host OS and the Docker image OS to match.  You can override the default and select a specific Docker image Ubuntu version by specifying `--xenial` or `--focal` for Ubuntu 16.04 or 20.04 docker images, respectively.
 
 For more information about all the build arguments:
 
@@ -161,14 +161,13 @@ For more information about all the build arguments:
 
 The `build.sh` script normally manages these `Dockerfile` `ARGS` but you can set them yourself if you run `docker build` manually:
 
-- `UBUNTU_VERSION` - The version of Ubuntu to use. Valid values are "16.04", "18.04", and "20.04".
+- `UBUNTU_VERSION` - The version of Ubuntu to use. Valid values are "16.04" and "20.04".
 - `ROS_VERSION` - The version of ROS to use. Valid values are "kinetic", "melodic", and "noetic".
 - `PYTHON` - The version of Python to use. Valid values are "" (an empty string representing Python 2) and "3".
 
 Constraints:
 - If `UBUNTU_VERSION` is `"16.04"`, `ROS_VERSION` and `PYTHON` must be `"kinetic"` and `""` respectively.
-- If `UBUNTU_VERSION` is `"18.04"`, `ROS_VERSION` and `PYTHON` must be `"melodic"` and `""` respectively.
-- If `UBUNTU_VERSION` is `"20.04"`, `ROS_VERSION` and `PYTHON` must be `"neotic"` and `"3"` respectively.
+- If `UBUNTU_VERSION` is `"20.04"`, `ROS_VERSION` and `PYTHON` must be `"noetic"` and `"3"` respectively.
 
 The Docker files also accept args to use local or container registry images.
 
@@ -229,8 +228,8 @@ argument parsing more predictable.)
 
 As with `build.sh`, by default, the docker image OS version will be
 configured to match your host's OS version, but you can override that
-by specifying the `--xenial`, `--bionic`, or `--focal` option for
-Ubuntu 16.04, 18.04, or 20.04 docker images, respectively.
+by specifying the `--xenial` or `--focal` option for
+Ubuntu 16.04 or 20.04 docker images, respectively.
 
 Use `--remote` to fetch and run a pre-built Astrobee docker
 image. (Omit `--remote` to run using a docker image built locally by
@@ -266,7 +265,7 @@ The package argument is optional. The default is to build/test all
 packages.
 
 If debugging a CI failure that is specific to a particular OS version,
-remember to pass `run.sh` the `--xenial`, `--bionic`, or `--focal`
+remember to pass `run.sh` the `--xenial` or `--focal`
 option to select the right OS version to replicate the failure.
 
 Note: integration tests that use Gazebo simulation will be silently

diff --git a/scripts/docker/run.sh b/scripts/docker/run.sh
@@ -24,7 +24,6 @@ usage: run.sh [-h] [-x] [-b] [-f] [-r] [-n] [-m] [-d]
 
 -h or --help: Print this help
 -x or --xenial: Use Ubuntu 16.04 docker image
--b or --bionic: Use Ubuntu 18.04 docker image
 -f or --focal: Use Ubuntu 20.04 docker image
 -r or --remote: Fetch pre-built remote docker image (vs. local image built by build.sh)
 -n or --no-display: Don't set up X forwarding. (For headless environment.)
@@ -57,8 +56,8 @@ usage()
 # Parse options 1 (validate and normalize with getopt)
 ######################################################################
 
-shortopts="h,x,b,f,r,n,g:,m,d,i:,a:"
-longopts="help,xenial,bionic,focal,remote,no-display,gpu:,mount,dry-run,image:,args:"
+shortopts="h,x,f,r,n,g:,m,d,i:,a:"
+longopts="help,xenial,focal,remote,no-display,gpu:,mount,dry-run,image:,args:"
 opts=$(getopt -a -n run.sh --options "$shortopts" --longoptions "$longopts" -- "$@")
 if [ $? -ne 0 ]; then
     echo
@@ -95,8 +94,6 @@ while [ "$1" != "" ]; do
                                    ;;
         -x | --xenial )            os="xenial"
                                    ;;
-        -b | --bionic )            os="bionic"
-                                   ;;
         -f | --focal )             os="focal"
                                    ;;
         -r | --remote )            tagrepo="ghcr.io/nasa"
@@ -153,8 +150,6 @@ fi
 
 if [ "$os" = "xenial" ]; then
     tag=astrobee:latest-${image}ubuntu16.04
-elif [ "$os" = "bionic" ]; then
-    tag=astrobee:latest-${image}ubuntu18.04
 elif [ "$os" = "focal" ]; then
     tag=astrobee:latest-${image}ubuntu20.04
 fi

diff --git a/scripts/docker/test_astrobee.Dockerfile b/scripts/docker/test_astrobee.Dockerfile
@@ -1,4 +1,4 @@
-# This will test an Astrobee bionic docker container.
+# This will test an Astrobee docker container.
 # You must set the docker context to be the repository root directory
 
 ARG UBUNTU_VERSION=16.04

diff --git a/scripts/setup/debians/build_debians.sh b/scripts/setup/debians/build_debians.sh
@@ -49,9 +49,6 @@ while [[ $# -gt 0 ]]; do
       # Packages to find and build dependencies
       sudo apt-get install -y devscripts equivs libproj-dev || die
       # Dependencies for jps3d
-      if [[ $dist == "bionic" ]]; then
-        sudo apt-get install -y libvtk6.3 libboost-filesystem1.62.0 libboost-system1.62.0 || die
-      fi
       if [[ $dist == "focal" ]]; then
         sudo apt-get install -y libvtk7.1p libboost-filesystem1.71.0 libboost-system1.71.0 || die
       fi
@@ -60,8 +57,8 @@ while [[ $# -gt 0 ]]; do
   shift
 done
 
-# Build opencv if ubuntu 18 or 20
-[[ "$dist" =~ ^bionic|focal$ ]] && build_list+=( opencv )
+# Build opencv if ubuntu 20
+[[ "$dist" =~ ^focal$ ]] && build_list+=( opencv )
 
 # Add public debians to build list
 build_list+=( alvar dlib dbow2 gtsam decomputil jps3d openmvg )
@@ -90,4 +87,4 @@ do
   if $install_debians ; then
     sudo dpkg -i *${pkg}*.deb || die "Failed to install $pkg"
   fi
-done
+done
diff --git a/scripts/setup/debians/build_install_debians.sh b/scripts/setup/debians/build_install_debians.sh
@@ -33,17 +33,10 @@ case $dist in
   xenial)
     echo "Ubuntu 16 detected"
     ;;
-  bionic|focal)
-    build_list+=( opencv )
-    ;;&
-  bionic)
-    echo "Ubuntu 18 detected"
-     # jps3d deps
-    sudo apt-get install -y libvtk6.3 libboost-filesystem1.62.0 libboost-system1.62.0
-    ;;
   focal)
     echo "Ubuntu 20 detected"
-    #jps3d deps
+    build_list+=( opencv )
+    # jps3d deps
     sudo apt-get install -y libvtk7.1p libboost-filesystem1.71.0 libboost-system1.71.0
     ;;
   *)

diff --git a/scripts/setup/debians/mirror/create_repo.sh b/scripts/setup/debians/mirror/create_repo.sh
@@ -29,4 +29,3 @@ $APTLY mirror create -architectures=armhf xenial-security http://ports.ubuntu.co
 $APTLY mirror create -architectures=armhf ros http://packages.ros.org/ros/ubuntu xenial main
 
 $APTLY repo create astrobee
-$APTLY repo create bionic-astrobee
diff --git a/scripts/setup/debians/mirror/publish_snapshot.sh b/scripts/setup/debians/mirror/publish_snapshot.sh
@@ -21,14 +21,10 @@ $APTLY snapshot create ros_$1 from mirror ros || exit
 
 $APTLY snapshot merge -latest $1 astrobee_$1 main_$1 security_$1 updates_$1 ros_$1 || exit
 
-$APTLY snapshot create bionic-astrobee_$1 from repo bionic-astrobee || exit
-
 # need to delete old version first
 $APTLY publish drop xenial
-$APTLY publish drop bionic
 
 $APTLY publish snapshot -gpg-key=33C0A17A -distribution="xenial" $1 || exit 0
-$APTLY publish snapshot -gpg-key=33C0A17A -distribution="bionic" bionic-astrobee_$1 || exit 1
 
 PUBLISH_DIR=`$APTLY config show | grep "rootDir" | sed -r 's|^[^:]+: "([^"]+)",$|\1|'`/public
 

diff --git a/scripts/setup/debians/mirror/update_astrobee_debians.sh b/scripts/setup/debians/mirror/update_astrobee_debians.sh
@@ -4,11 +4,8 @@ DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
 APTLY="$DIR/aptly/aptly -config=$DIR/aptly.conf"
 
 DEBLOC=${ASTROBEE_DEBIAN_DIR:-/home/p-free-flyer/free-flyer/FSW/ars_debs/dists/xenial/main}
-BIONIC_DEBLOC=${ASTROBEE_BIONIC_DEBIAN_DIR:-/home/p-free-flyer/free-flyer/FSW/ars_debs/dists/bionic}
 
 # add our debians
 $APTLY repo add astrobee $DEBLOC/binary-armhf/*.deb
 $APTLY repo add astrobee $DEBLOC/binary-amd64/*.deb
 $APTLY repo add astrobee $DEBLOC/source/*.dsc
-$APTLY repo add bionic-astrobee $BIONIC_DEBLOC/*.deb
-$APTLY repo add bionic-astrobee $BIONIC_DEBLOC/*.dsc
Original file line number	Diff line number	Diff line change
Expand Up		@@ -29,4 +29,3 @@ $APTLY mirror create -architectures=armhf xenial-security http://ports.ubuntu.co
		$APTLY mirror create -architectures=armhf ros http://packages.ros.org/ros/ubuntu xenial main

		$APTLY repo create astrobee
		$APTLY repo create bionic-astrobee