WIP: Add ROS2 subpackage into QM

Just initial work to support The Robot Operational System (ROS2)
out of box into QM.

ContainerFile by Leonardo Rossetti <[email protected]> with few mods by me.

Signed-off-by: Douglas Landgraf <[email protected]>

Makefile

@@ -40,6 +40,12 @@ EN_QM_MNT_BIND_TTY7 ?= 0
 # export EN_QM_MNT_BIND_SOUND=1
 EN_QM_MNT_BIND_SOUND ?= 0
 
+############################################
+# subpackage QM - ros2-rolling             #
+############################################
+# export EN_QM_ROS2_ROLLING=1
+EN_QM_ROS2_ROLLING ?= 0
+
 ###########################################
 # subpackage QM - Enable Window Manager   #
 ###########################################
@@ -136,7 +142,8 @@ rpm: clean dist ##             - Creates a local RPM package, useful for develop
 		--define="u_enable_qm_mount_bind_sound ${EN_QM_MNT_BIND_SOUND}" \
 		--define="u_enable_qm_mount_bind_kvm ${EN_QM_MNT_BIND_KVM}" \
 		--define="u_enable_qm_mount_bind_input ${EN_QM_MNT_BIND_INPUT}" \
-                --define="u_enable_qm_mount_bind_video ${EN_QM_MNT_BIND_VIDEO}" \
+		--define="u_enable_qm_mount_bind_video ${EN_QM_MNT_BIND_VIDEO}" \
+		--define="u_enable_qm_dropin_ros2_rolling ${EN_QM_ROS2_ROLLING}" \
 		--define="_topdir ${RPM_TOPDIR}" \
 		--define="version ${VERSION}" \
 		${SPECFILE}
@@ -155,6 +162,11 @@ qm_dropin_img_tempdir: ##            - QM RPM sub-package qm_dropin_img_tempdir
 	sed -i 's/%define enable_qm_dropin_img_tempdir 0/%define enable_qm_dropin_img_tempdir 1/' ${SPECFILE}
 	$(MAKE) VERSION=${VERSION} rpm
 
+.PHONY: qm_dropin_ros2_rolling
+qm_dropin_ros2_rolling: ##           - QM RPM sub-package to creating a quadlet container with ROS2 rolling env
+	sed -i 's/%define enable_qm_ros2_rolling 0/%define enable_qm_ros2_rolling 1/' ${SPECFILE}
+	$(MAKE) VERSION=${VERSION} rpm
+
 .PHONY: qm_dropin_mount_bind_ttyUSB0
 qm_dropin_mount_bind_ttyUSB0: ##     - QM RPM sub-package to mount bind /dev/ttyUSB0 in the nested containers
 	sed -i 's/%define enable_qm_mount_bind_ttyUSB0 0/%define enable_qm_mount_bind_ttyUSB0 1/' ${SPECFILE}

README.md

@@ -18,6 +18,7 @@
     - [Installing QM Sub-Packages](#installing-qm-sub-packages)
     - [Removing QM Sub-Packages](#removing-qm-sub-packages)
     - [Creating Your Own Drop-In QM Sub-Package](#creating-your-own-drop-in-qm-sub-package)
+    - [QM Sub-Package ROS2](#qm-sub-package-ros2)
     - [QM Sub-Package KVM](#qm-sub-package-kvm)
     - [QM Sub-Package Sound](#qm-sub-package-sound)
     - [QM Sub-Package Video](#qm-sub-package-video)
@@ -332,6 +333,26 @@ Example changing the spec and triggering the build via make (feel free to automa
 $ make clean && VERSION=YOURVERSIONHERE make rpm
 ```
 
+## QM sub-package ROS2
+
+The QM sub-package ROS2 (a.k.a The Robot Operating System) is widely used by open-source projects, enterprises, companies, edge env and government agencies, including NASA, to advance robotics and autonomous systems. Enabled by Quadlet in QM, ROS2 on top of QM provides a secure environment where robots can operate and communicate safely, benefiting from QM's "Freedom from Interference" frequently tested layer. This ensures robots can function without external interference, enhancing their reliability and security.
+
+The types of robots compatible with this environment are extensive, ranging from medical devices and aerial drones to aqua drones and space rockets. ROS2 within QM supports high availability, meaning these robotic systems can maintain continuous operations, crucial for mission-critical and industrial applications. This versatility makes it ideal for environments that demand robust communication and operational safety, from healthcare and aerospace to underwater exploration and autonomous land vehicles.
+
+How to test this env?
+
+```bash
+$host> git clone https://github.com/containers/qm.git && cd qm
+$host> make qm_dropin_ros2_rolling
+$host> sudo dnf install rpmbuild/RPMS/noarch/qm_ros2_rolling-0.6.7-1.fc40.noarch.rpm  -y
+$host> sudo podman restart qm  # if you have qm already running
+
+Testing using talked and listener examples
+$host> sudo podman exec -it qm bash
+QM> ros2 run demo_nodes_cpp talker &
+QM> ros2 run demo_nodes_cpp listener
+```
+
 ## QM sub-package KVM
 
 The QM sub-package KVM includes drop-in configuration that enables the integration of Kernel-based Virtual Machine (KVM) management into the QM (Quality Management) container environment. This configuration allows users to easily configure and manage KVM virtual machines within the QM system, streamlining virtualization tasks in containerized setups.

rpm/qm.spec

@@ -42,6 +42,11 @@
 ###########################################
 %define enable_qm_window_manager 0%{?u_enable_qm_window_manager}
 
+###########################################
+# subpackage QM - ROS2 Rolling version    #
+###########################################
+%define enable_qm_ros2_rolling 1%{?u_enable_qm_ros2_rolling}
+
 ###########################################
 # subpackage QM - mount bind /dev/ttyUSB0 #
 ###########################################
@@ -262,6 +267,17 @@ install -d %{buildroot}%{_sysconfdir}/qm/containers/containers.conf.d
 # END - qm dropin sub-package - mount ttyUSB0          #
 ########################################################
 
+########################################################
+# START - qm dropin ROS2 - Rolling                     #
+########################################################
+%if %{enable_qm_ros2_rolling}
+    mkdir -p %{buildroot}/%{rootfs_qm}/%{_sysconfdir}/containers/systemd/
+    install -m 644 %{_builddir}/qm-%{version}/subsystems/ros2/ros2-rolling.container %{buildroot}/%{rootfs_qm}/etc/containers/systemd/ros2-rolling.container
+%endif
+########################################################
+# END - qm dropin sub-package - ROS2 - Rolling         #
+########################################################
+
 ########################################################
 # START - qm dropin sub-package - mount video          #
 ########################################################
@@ -560,6 +576,24 @@ additional drop-in configurations.
 %{rootfs_qm}/%{_sysconfdir}/containers/systemd/rear-camera.container
 %endif
 
+#######################################
+# sub-package QM ROS2 rolling
+#######################################
+%if %{enable_qm_ros2_rolling}
+%package -n qm_ros2_rolling
+Summary: Subpackage container for quadlet container to ROS2 Rolling environment
+Requires: %{name} = %{version}-%{release}
+BuildArch: noarch
+
+%description -n qm_ros2_rolling
+This sub-package installs a drop-in configurations for the QM.
+It creates the `/etc/qm/containers/containers.conf.d/` directory for adding
+additional drop-in configurations.
+
+%files -n qm_ros2_rolling
+%{rootfs_qm}/%{_sysconfdir}/containers/systemd/ros2-rolling.container
+%endif
+
 #######################################
 
 %changelog

subsystems/ros2/ContainerFile

@@ -0,0 +1,89 @@
+# ContainerFile used to create the image available at quay.io/qm-images/wm_active_session:latest
+#
+# How to build
+# ==================
+# podman login quay.io
+# podman build -t quay.io/qm-images/ros2:rolling -f ContainerFile
+# podman push quay.io/qm-images/ros2:rolling
+#
+# Run the demo
+# ==================
+# podman run -it quay.io/qm-images/ros2:rolling
+# ros2 run demo_nodes_cpp talker &
+#    ros2 run demo_nodes_cpp listener
+
+ARG FEDORA_VERSION=40
+
+FROM registry.fedoraproject.org/fedora-toolbox:${FEDORA_VERSION}
+
+ARG ROS_VERSION=rolling
+
+ENV LANG=en_US.UTF-8
+ENV RPM_ARCH=x86_64
+ENV ROS_PYTHON_VERSION=3
+
+RUN dnf update -y
+
+RUN dnf install -y \
+  cmake \
+  cppcheck \
+  eigen3-devel \
+  gcc-c++ \
+  liblsan \
+  libXaw-devel \
+  libyaml-devel \
+  make \
+  opencv-devel \
+  patch \
+  python3-colcon-common-extensions \
+  python3-coverage \
+  python3-devel \
+  python3-empy \
+  python3-nose \
+  python3-pip \
+  python3-pydocstyle \
+  python3-pyparsing \
+  python3-pytest \
+  python3-pytest-cov \
+  python3-pytest-mock \
+  python3-pytest-runner \
+  python3-rosdep \
+  python3-setuptools \
+  python3-vcstool \
+  poco-devel \
+  poco-foundation \
+  python3-flake8 \
+  python3-flake8-import-order \
+  redhat-rpm-config \
+  uncrustify \
+  wget
+
+RUN python3 -m pip install -U \
+  flake8-blind-except==0.1.1 \
+  flake8-class-newline \
+  flake8-deprecated
+
+RUN mkdir -p /opt/ros2/src
+WORKDIR /opt/ros2
+RUN vcs import --input https://raw.githubusercontent.com/ros2/ros2/${ROS_VERSION}/ros2.repos src
+
+RUN rosdep init
+RUN rosdep update
+RUN rosdep install \
+     --from-paths src \
+     --ignore-src -y \
+     --skip-keys "assimp fastcdr ignition-cmake2 ignition-math6 python3-matplotlib python3-pygraphviz rti-connext-dds-6.0.1 urdfdom_headers"
+
+WORKDIR /opt/ros2
+
+# TODO: temporary workaround, remove once those packages can be built
+RUN touch ./src/ros-visualization/rqt/rqt_gui_cpp/CATKIN_IGNORE && \
+touch ./src/ros-visualization/qt_gui_core/qt_gui_app/CATKIN_IGNORE && \
+touch ./src/ros-visualization/qt_gui_core/qt_gui_cpp/CATKIN_IGNORE
+
+RUN colcon build --symlink-install
+
+# Source ROS 2 setup in the shell environment
+RUN echo "source /opt/ros2/install/setup.bash" >> ~/.bashrc
+
+RUN dnf clean all

subsystems/ros2/ros2-rolling.container

@@ -0,0 +1,12 @@
+[Unit]
+Description=ROS 2 Container Development env
+After=network.target
+
+[Container]
+Image=quay.io/qm-images/ros2:rolling
+
+# Automatically restart the container if it stops
+Restart=always
+
+[Install]
+WantedBy=multi-user.target