feat: rebuild devel from ros:foxy-ros-base-focal for Jetson (arm64) support#23
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ycpss91255 merged 2 commits intomainfrom Apr 24, 2026
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feat: rebuild devel from ros:foxy-ros-base-focal for Jetson (arm64) support#23ycpss91255 merged 2 commits intomainfrom
ycpss91255 merged 2 commits intomainfrom
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…m64) support Replace the amd64-only osrf/ros:foxy-ros1-bridge base with multi-arch ros:foxy-ros-base-focal, then install ROS 1 Noetic + ROS 2 Foxy (including ros-foxy-ros1-bridge 0.9.7) from the ROS 1 snapshot apt repo. Matches the upstream docker_images_ros2 generated Dockerfile so the behaviour is unchanged on amd64, and unblocks native builds on Jetson. - ENV ROS1_DISTRO=noetic / ROS2_DISTRO=foxy baked into the image - Add script/ros_entrypoint.sh (osrf-compatible, ROS env only) alongside the existing script/entrypoint.sh (also loads /bridge.yaml via rosparam); default ENTRYPOINT unchanged - Test stage lint COPY switched to script/*.sh glob - Smoke tests extended (+5): ROS1/2_DISTRO env vars, /ros_entrypoint.sh executability + ability to source both ROS envs + expose ros2 - 4-language README, CHANGELOG [Unreleased], TEST.md (24 to 29) updated
- Dockerfile: devel CMD now `bash` (interactive shell only); new `runtime` stage `FROM devel` keeps `CMD ros2 run ros1_bridge parameter_bridge` for production-style auto-bridge deployments. `./run.sh` now lands in a plain shell instead of simultaneously running `parameter_bridge` in the background. USER-VISIBLE BEHAVIOR CHANGE. - .github/workflows/main.yaml: `build_runtime: false` -> `true` so CI builds both stages. - bridge.yaml + config/*.yaml: document the full schema parameter_bridge actually accepts — topics with optional QoS (history/depth/reliability/ durability/deadline/lifespan/liveliness/liveliness_lease_duration), `services_1_to_2` (example_interfaces/AddTwoInts, nav_msgs/GetMap), `services_2_to_1` (rcl_interfaces/GetParameters). config/scan_bridge.yaml and config/release_bridge.yaml now carry sensor-data QoS (BEST_EFFORT for image streams, RELIABLE for camera_info). - Dockerfile: drop `COPY config/ /config/` — entrypoint never reads `/config/` at runtime; `config/*.yaml` remain in the repo as reference examples and can still be consumed via `--build-arg BRIDGE_FILE=config/<file>.yaml`. - Smoke tests: remove `config directory exists` (no longer applicable). - 4 READMEs: update Features (devel/runtime split), Usage (new run modes), YAML Format (topic ROS 2 vs service ROS 1 type asymmetry), Architecture mermaid (runtime node, snapshots.ros.org source), Directory structure (runtime stage listed). - TEST.md: 29 -> 28 tests (Bridge config 6 -> 5). - CHANGELOG [Unreleased]: Changed + Removed entries. Note: `./run.sh runtime` does not yet work because the auto-generated `compose.yaml` only emits `devel` and `test` services. Tracked upstream in template. Invoke runtime for now via `docker build --target runtime` + `docker run`.
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CI fix: v0.9.11's build.sh/run.sh/exec.sh/stop.sh look up _lib.sh at
`${FILE_PATH}/_lib.sh` in the /lint layout. Dockerfile test stage was
only copying the four top-level scripts, so `bats script_help.bats`
exited with `cannot find _lib.sh`. Add COPY for _lib.sh + i18n.sh.
Entrypoint split: devel now uses /ros_entrypoint.sh (sources ROS1+ROS2
without rosparam load) so `./run.sh` into devel gives an immediately
usable shell; runtime stage keeps /entrypoint.sh (rosparam load
/bridge.yaml + launch parameter_bridge) for production-style auto
bridge. Follow-up to PR #23 which shipped ros_entrypoint.sh but didn't
wire it into the Dockerfile.
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* Squashed 'template/' changes from e5c123cf..087f26e3
087f26e3 chore: release v0.9.11 (#109)
d672949e feat: Jetson auto-detect for [build] network + dedupe _detect_lang (#102 + #104) (#107)
364ae6f9 test(coverage) + fix(i18n): fill audit gaps, localise _sanitize_lang, close #103 (#105)
13e28b9a chore: release v0.9.10 (#100)
3a2b3578 feat(ci): multi-arch docker build via native matrix runners (#99)
git-subtree-dir: template
git-subtree-split: 087f26e38f4f4bac7eef034d2922f040226a3c39
* chore: bump main.yaml + CHANGELOG for template v0.9.11
Pins call-docker-build / call-release to template@v0.9.11 so the
subtree upgrade actually wires into CI. CHANGELOG [Unreleased] records
the bump + key v0.9.11 features relevant to this repo (Jetson
auto-detect for runtime / build network, arm64 matrix runners).
* fix(test): copy _lib.sh/i18n.sh to /lint; wire ros_entrypoint into devel
CI fix: v0.9.11's build.sh/run.sh/exec.sh/stop.sh look up _lib.sh at
`${FILE_PATH}/_lib.sh` in the /lint layout. Dockerfile test stage was
only copying the four top-level scripts, so `bats script_help.bats`
exited with `cannot find _lib.sh`. Add COPY for _lib.sh + i18n.sh.
Entrypoint split: devel now uses /ros_entrypoint.sh (sources ROS1+ROS2
without rosparam load) so `./run.sh` into devel gives an immediately
usable shell; runtime stage keeps /entrypoint.sh (rosparam load
/bridge.yaml + launch parameter_bridge) for production-style auto
bridge. Follow-up to PR #23 which shipped ros_entrypoint.sh but didn't
wire it into the Dockerfile.
3 tasks
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* ci: enable arm64 in build matrix (linux/amd64,linux/arm64) PR #23 rebuilt devel from a multi-arch base for Jetson support, but main.yaml never opted in to the template's arm64 build matrix — the build-worker.yaml input defaults to linux/amd64 only. As a result, every PR since #23 has only verified amd64 in CI; arm64 has been validated manually via rsync-to-Jetson. Pass platforms: linux/amd64,linux/arm64 to build-worker.yaml so CI runs both architectures in parallel (template v0.9.11 added the ubuntu-24.04-arm runner support). * ci: bump template @tag to v0.10.0-rc2 for arm64 test-tools fix v0.9.13's release-test-tools.yaml shipped a multi-arch ghcr.io/ycpss91255-docker/test-tools:v0.9.13 with x86_64 shellcheck / hadolint binaries in BOTH manifest variants — the `ARG TARGETARCH=amd64` default in template/dockerfile/Dockerfile.test-tools shadowed BuildKit's per-platform auto-inject (moby/buildkit#3403), so every multi-arch run fell back to amd64. This branch enabled the arm64 matrix but kept pointing at @v0.9.13, so the arm64 shard blew up at `shellcheck: Exec format error` on first run. Template v0.10.0-rc2 (#126 / #127) drops the ARG default. The rc2 GHCR image's arm64 variant contains real aarch64 binaries (verified via `docker cp` + `file`). Bumping build-worker.yaml + release- worker.yaml @tag so this PR's arm64 shard picks up the correct image.
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Summary
osrf/ros:foxy-ros1-bridgewith multi-archros:foxy-ros-base-focal+ ROS 1 snapshot apt repo so the image can be built natively on Jetson (arm64). The apt install list mirrors the upstreamdocker_images_ros2generator, so amd64 behavior is unchanged (ROS 1 Noetic + ROS 2 Foxy +ros-foxy-ros1-bridge=0.9.7).script/ros_entrypoint.sh(osrf-compatible: sources both ROS distros only) at/ros_entrypoint.sh, without replacing the existingscript/entrypoint.sh(still the defaultENTRYPOINT, still loads/bridge.yamlviarosparam).ENV ROS1_DISTRO=noetic/ROS2_DISTRO=foxyinto the image;ros_entrypoint.shuses these.script/*.shglob so new scripts get linted automatically.Test plan
./build.sh test— 29/29 smoke tests pass (ShellCheck / Hadolint / Bats) on amd64 host.-S warning:ros_entrypoint.shuses# shellcheck source=/dev/nulldirective for dynamic ROS setup.bash paths.ROS1_DISTRO/ROS2_DISTROenv vars,/ros_entrypoint.shexecutability,/ros_entrypoint.shsources both ROS envs (finalROS_DISTRO=foxy),/ros_entrypoint.shexposesros2on PATH.build-worker.yaml, separate PR).Notes
set -e(notset -euo pipefail) inros_entrypoint.shbecause ROS catkin profile scripts reference unset vars; matches the existingscript/entrypoint.shprecedent.ARG BRIDGE_FILE="bridge.yaml"preserved — documented build-arg stays working.