From 8ae4e9ee7998958fcc6059990d106ef44f490b87 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Sat, 14 Oct 2023 16:18:56 -0700
Subject: [PATCH] ros2: Updated CI

---
 .github/workflows/docker-ros2.yml | 10 +++++++++-
 .github/workflows/ros2.yml        |  9 ++++++---
 docker/humble/latest/Dockerfile   |  7 ++-----
 docker/iron/latest/Dockerfile     |  7 ++-----
 4 files changed, 19 insertions(+), 14 deletions(-)

diff --git a/.github/workflows/docker-ros2.yml b/.github/workflows/docker-ros2.yml
index 9e09a144..ae606b71 100644
--- a/.github/workflows/docker-ros2.yml
+++ b/.github/workflows/docker-ros2.yml
@@ -11,7 +11,7 @@ jobs:
     
     strategy:
       matrix:
-        docker_tag: [humble, humble-latest]
+        docker_tag: [humble, humble-latest, iron, iron-latest]
         include:
         - docker_tag: humble
           docker_path: 'humble'
@@ -23,6 +23,14 @@ jobs:
           docker_platforms: |
             linux/amd64
             linux/arm64
+        - docker_tag: iron
+          docker_path: 'iron'
+          docker_platforms: |
+            linux/amd64
+        - docker_tag: iron-latest
+          docker_path: 'iron/latest'
+          docker_platforms: |
+            linux/amd64
     
     steps:
       -
diff --git a/.github/workflows/ros2.yml b/.github/workflows/ros2.yml
index 4f75b868..a1dd42b2 100644
--- a/.github/workflows/ros2.yml
+++ b/.github/workflows/ros2.yml
@@ -21,12 +21,14 @@ jobs:
     runs-on: ${{ matrix.os }}
     strategy:
       matrix:
-        ros_distro: [foxy, humble]
+        ros_distro: [foxy, humble, iron]
         include:
         - ros_distro: 'foxy'
           os: ubuntu-20.04
         - ros_distro: 'humble'
           os: ubuntu-22.04
+        - ros_distro: 'iron'
+          os: ubuntu-22.04
 
     steps:   
     - uses: ros-tooling/setup-ros@v0.6
@@ -36,8 +38,8 @@ jobs:
     - name: Install dependencies
       run: |
         sudo apt-get update
-        sudo apt-get -y install ros-${{ matrix.ros_distro }}-rtabmap ros-${{ matrix.ros_distro }}-nav2-msgs ros-${{ matrix.ros_distro }}-pcl-ros
-        sudo apt-get -y remove ros-${{ matrix.ros_distro }}-rtabmap
+        sudo apt-get -y install ros-${{ matrix.ros_distro }}-rtabmap
+        sudo apt-get -y remove ros-${{ matrix.ros_distro }}-rtabmap*
                 
     - name: Setup ros2 workspace
       run: | 
@@ -59,5 +61,6 @@ jobs:
       run: |
         source /opt/ros/${{ matrix.ros_distro }}/setup.bash
         cd ${{github.workspace}}/ros2_ws
+        rosdep update
         rosdep install --from-paths src --ignore-src -r -y
         colcon build --event-handlers console_direct+
diff --git a/docker/humble/latest/Dockerfile b/docker/humble/latest/Dockerfile
index a05ae02a..7688b0ef 100644
--- a/docker/humble/latest/Dockerfile
+++ b/docker/humble/latest/Dockerfile
@@ -1,9 +1,5 @@
 FROM introlab3it/rtabmap:22.04
 
-RUN apt-get update && apt-get install -y \
-    ros-humble-pcl-ros \
-    && rm -rf /var/lib/apt/lists/
-
 RUN source /ros_entrypoint.sh && \
     mkdir -p ros2_ws/src && \
     cd ros2_ws/src
@@ -13,7 +9,8 @@ COPY . ros2_ws/src/rtabmap_ros
 RUN source /ros_entrypoint.sh && \
     cd ros2_ws && \
     export MAKEFLAGS="-j1" && \
-    apt update && apt install -y ros-humble-pcl-ros && \
+    rosdep update && \
+    rosdep install --from-paths src --ignore-src -r -y && \
     colcon build --event-handlers console_direct+ --install-base /opt/ros/humble --merge-install --cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_BUILD_TYPE=Release && \
     cd && \
     rm -rf ros2_ws
diff --git a/docker/iron/latest/Dockerfile b/docker/iron/latest/Dockerfile
index b295b755..9bbccc89 100644
--- a/docker/iron/latest/Dockerfile
+++ b/docker/iron/latest/Dockerfile
@@ -1,9 +1,5 @@
 FROM introlab3it/rtabmap:jammy-iron
 
-RUN apt-get update && apt-get install -y \
-    ros-iron-pcl-ros \
-    && rm -rf /var/lib/apt/lists/
-
 RUN source /ros_entrypoint.sh && \
     mkdir -p ros2_ws/src && \
     cd ros2_ws/src
@@ -13,7 +9,8 @@ COPY . ros2_ws/src/rtabmap_ros
 RUN source /ros_entrypoint.sh && \
     cd ros2_ws && \
     export MAKEFLAGS="-j1" && \
-    apt update && apt install -y ros-iron-pcl-ros && \
+    rosdep update && \
+    rosdep install --from-paths src --ignore-src -r -y && \
     colcon build --event-handlers console_direct+ --install-base /opt/ros/iron --merge-install --cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_BUILD_TYPE=Release && \
     cd && \
     rm -rf ros2_ws