Cleanup

.gitmodules

@@ -2,10 +2,6 @@
 	path = src/third-party/ublox
 	url = https://github.com/KumarRobotics/ublox.git
 	branch = ros2
-[submodule "src/third-party/ouster-ros"]
-	path = src/third-party/ouster-ros
-	url = https://github.com/ouster-lidar/ouster-ros.git
-	branch = ros2
 [submodule "src/third-party/zed-ros2-wrapper"]
 	path = src/third-party/zed-ros2-wrapper
 	url = https://github.com/stereolabs/zed-ros2-wrapper.git

Dockerfile

@@ -117,9 +117,9 @@ RUN git clone https://github.com/ANYbotics/kindr.git \
 RUN apt-get update && apt-get install -y --no-install-recommends \
     libsrt1.4-openssl \
     lsb-release \
-    gnupg2 libssl-dev libpng16-16 \
+    gnupg2 libpng16-16 \
     zlib1g-dev libffi-dev \
-    libglib2.0-dev libmount-dev \
+    libmount-dev \
     python3-mrcal libsnmp-dev snmp \
     && rm -rf /var/lib/apt/lists/*
 
@@ -195,10 +195,12 @@ ENTRYPOINT ["/bin/bash", "-c", "source /ros.sh && exec \"$@\"", "--"]
 
 CMD ["/bin/bash"]
 
+
+## Helpers for development and CI pipelines
 ############################
 # Stage 9: Linter (Optional)
 ############################
-FROM builder as linter
+FROM builder AS linter
 SHELL ["/bin/bash", "-o", "pipefail", "-c"]
 WORKDIR /rover
 COPY ros.sh .
@@ -207,4 +209,23 @@ RUN black . --exclude "src/third-party/|build|install|\.tox|dist" --check
 RUN find ./src -path ./src/third-party -prune -o \
     \( -name "*.h" -o -name "*.hpp" -o -name "*.cpp" \) -print \
     | xargs clang-format --dry-run --Werror
-RUN source ros.sh && pylint -E src
+RUN source ros.sh && pylint -E src
+
+############################
+# Stage 10: Rosdep collector (Optional)
+############################
+FROM ros2_humble-base AS rosdep-collector
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
+WORKDIR /rover
+COPY src/ ./src
+RUN source /opt/ros/humble/setup.bash && \
+    rosdep init && rosdep update && \
+    rosdep keys --from-paths src --ignore-src > /rosdep-keys.txt
+RUN sort /rosdep-keys.txt -o /rosdep-keys.txt
+
+
+############################
+# Stage 11: Rosdep exporter (Optional)
+############################
+FROM scratch AS rosdep-exporter
+COPY --from=rosdep-collector /rosdep-keys.txt .

rosdep-keys.txt

@@ -1,90 +1,81 @@
-libtins-dev
-rosbridge_server
+asio
+boost
+compressed_depth_image_transport
 compressed_image_transport
-joy
+controller_manager
+cv_bridge
+diagnostic_updater
+diff_drive_controller
 draco_point_cloud_transport
 eigen
-joint_state_broadcaster
-robot_localization
+ffmpeg_encoder_decoder
 ffmpeg_image_transport
-image_transport_plugins
-moveit_planners
+filters
+forward_command_controller
+geographic_msgs
+glib-2.0
+grid_map_cmake_helpers
+grid_map_core
+grid_map_filters
+grid_map_msgs
+grid_map_ros
 gstreamer-1.0
+hardware_interface
+image_transport
+image_transport_plugins
+joint_state_broadcaster
+joint_state_publisher
+joint_state_publisher_gui
+joint_trajectory_controller
+joy
+joy_linux
+libglib-dev
 libpcl-all-dev
-moveit_simple_controller_manager
-point_cloud_transport
-pcl_conversions
-xacro
-nav2_bringup
-grid_map_msgs
+libssl-dev
+liburdfdom-tools
+moveit_configs_utils
 moveit_kinematics
-asio
-grid_map_filters
-tf_transformations
-rtabmap_ros
-diagnostic_updater
-cv_bridge
-rviz_common
-rviz_default_plugins
-compressed_depth_image_transport
+moveit_planners
+moveit_ros_move_group
 moveit_ros_visualization
-grid_map_cmake_helpers
-gtest
-catkin
-ros2controlcli
-hardware_interface
 moveit_servo
-qtbase5-dev
-pcl_ros
-theora_image_transport
-grid_map_core
-zed_msgs
-liburdfdom-tools
-forward_command_controller
-nmea_msgs
+moveit_simple_controller_manager
+nav2_bringup
 nav2_core
-curl
-rviz2
 nav2_costmap_2d
-nav2_util
 nav2_msgs
-filters
-tbb
-python3-pytest
-navigation2
-libjsoncpp-dev
-rtcm_msgs
 nav2_regulated_pure_pursuit_controller
-spdlog
 nav2_smac_planner
-moveit_ros_move_group
-controller_manager
-rtabmap
-point_cloud_transport_plugins
-zstd_point_cloud_transport
-joint_state_publisher
-grid_map_ros
+nav2_util
+navigation2
+nmea_msgs
 pcl
+pcl_conversions
+pcl_ros
 pkg-config
-ffmpeg_encoder_decoder
-image_transport
-zlib_point_cloud_transport
+point_cloud_transport
+point_cloud_transport_plugins
+position_controllers
+python3-numpy
+python3-opencv
+python3-packaging
+python3-pytest
+python3-scipy
+python3-yaml
+robot_localization
+ros2controlcli
 ros2_controllers_test_nodes
-moveit_configs_utils
-geographic_msgs
-rviz
-boost
-joint_trajectory_controller
-diff_drive_controller
-joint_state_publisher_gui
-libjsoncpp
-controller_manager_msgs
-flex
-bison
-libncurses-dev
-usbutils
-tinyxml2
-clang-tidy
-python3-vcstool
-joy_linux
-position_controllers
+rosbridge_server
+rtabmap
+rtabmap_ros
+rtcm_msgs
+rviz2
+rviz_common
+rviz_default_plugins
+tbb
+tf_transformations
+theora_image_transport
+xacro
+zed_msgs
+zlib_point_cloud_transport
+zstd_point_cloud_transport

setup/generate_rosdeps.sh

@@ -0,0 +1,17 @@
+#!/bin/bash
+
+SCRIPT_DIR="$(dirname "$0")"
+DOCKERFILE_DIR="$SCRIPT_DIR/.."
+
+# check if docker is installed
+if ! command -v docker &> /dev/null
+then
+    echo "Docker could not be found. Are you in the Docker environment?"
+    echo "If so please exit back to the host environment."
+    echo "If not, please install Docker and try again. "
+    exit 1
+fi
+
+echo "Generating rosdeps inside the docker container..."
+docker build --target rosdep-exporter --output $DOCKERFILE_DIR $DOCKERFILE_DIR
+echo "Rosdeps generated successfully."