Remove options to control ROS2 version and only use humble + jammy

Signed-off-by: Steve Pham <[email protected]>

docker/Dockerfile

@@ -4,14 +4,7 @@
 # SPDX-License-Identifier: Apache-2.0 OR MIT
 #
 
-# Collect the arguments for the base ros image
-ARG ROS_VERSION=humble
-ARG UBUNTU_VERSION=jammy
-
-FROM ros:${ROS_VERSION}-ros-base-${UBUNTU_VERSION}
-
-ARG ROS_VERSION
-ARG UBUNTU_VERSION
+FROM ros:humble-ros-base-jammy
 
 # Argument to control the type of docker image to build
 ARG IMAGE_TYPE=full  # Default to 'full'
@@ -34,15 +27,6 @@ ENV WORKSPACE=/data/workspace
 
 WORKDIR $WORKSPACE
 
-# Verify only the supported ROS2 versions was specified
-RUN if [ "${ROS_VERSION}" = "humble" ]; then \
-        echo "Building ROS2/Humble based image"; \
-    elif [ "${ROS_VERSION}" = "galactic" ]; then \
-        echo "Building ROS2/Galactic based image"; \
-    else \
-        echo "Unsupported ROS_VERSION: ${ROS_VERSION}" && exit 1; \
-    fi
-
 # Setup time zone and locale data (necessary for SSL and HTTPS packages)
 RUN apt-get update && DEBIAN_FRONTEND="noninteractive" apt-get -y \
     install \
@@ -106,25 +90,25 @@ RUN sh -c 'echo "deb [arch=amd64,arm64] http://repo.ros2.org/ubuntu/main `lsb_re
     && curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add - 
 
 RUN apt-get update && apt-get install -y \
-    ros-${ROS_DISTRO}-ackermann-msgs \
-    ros-${ROS_DISTRO}-control-toolbox \
-    ros-${ROS_DISTRO}-gazebo-msgs \
-    ros-${ROS_DISTRO}-joy \
-    ros-${ROS_DISTRO}-navigation2 \
-    ros-${ROS_DISTRO}-rviz2 \
-    ros-${ROS_DISTRO}-tf2-ros \
-    ros-${ROS_DISTRO}-urdfdom \
-    ros-${ROS_DISTRO}-vision-msgs \
+    ros-humble-ackermann-msgs \
+    ros-humble-control-toolbox \
+    ros-humble-gazebo-msgs \
+    ros-humble-joy \
+    ros-humble-navigation2 \
+    ros-humble-rviz2 \
+    ros-humble-tf2-ros \
+    ros-humble-urdfdom \
+    ros-humble-vision-msgs \
     python3-colcon-common-extensions \
-    ros-${ROS_DISTRO}-cyclonedds \
-    ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
-    ros-${ROS_DISTRO}-slam-toolbox \
-    ros-${ROS_DISTRO}-navigation2 \
-    ros-${ROS_DISTRO}-nav2-bringup \
-    ros-${ROS_DISTRO}-pointcloud-to-laserscan \
-    ros-${ROS_DISTRO}-teleop-twist-keyboard \
-    ros-${ROS_DISTRO}-ackermann-msgs \
-    ros-${ROS_DISTRO}-topic-tools \
+    ros-humble-cyclonedds \
+    ros-humble-rmw-cyclonedds-cpp \
+    ros-humble-slam-toolbox \
+    ros-humble-navigation2 \
+    ros-humble-nav2-bringup \
+    ros-humble-pointcloud-to-laserscan \
+    ros-humble-teleop-twist-keyboard \
+    ros-humble-ackermann-msgs \
+    ros-humble-topic-tools \
     && rm -rf /var/lib/apt/lists/* \
     && pip install python-statemachine
 
@@ -144,7 +128,7 @@ RUN if [ "${IMAGE_TYPE}" = "full" ]; then \
         && git -C $WORKSPACE/ROSConDemo lfs install \
         && git -C $WORKSPACE/ROSConDemo lfs pull \
         && $WORKSPACE/o3de/scripts/o3de.sh register -pp $WORKSPACE/ROSConDemo/Project \
-        && . /opt/ros/${ROS_DISTRO}/setup.sh \
+        && . /opt/ros/humble/setup.sh \
         && cd $WORKSPACE/ROSConDemo/Project \
         && cmake -B $WORKSPACE/ROSConDemo/Project/build/linux -S . -G "Ninja Multi-Config" -DLY_DISABLE_TEST_MODULES=ON -DLY_STRIP_DEBUG_SYMBOLS=ON \
         && cmake --build $WORKSPACE/ROSConDemo/Project/build/linux --config profile --target ROSConDemo.GameLauncher Editor ROSConDemo.Assets -j $CMAKE_JOBS \
@@ -179,7 +163,7 @@ RUN if [ "${IMAGE_TYPE}" = "full" ]; then \
         && git -C $WORKSPACE/ROSConDemo lfs install \
         && git -C $WORKSPACE/ROSConDemo lfs pull \
         && $WORKSPACE/o3de/scripts/o3de.sh register -pp $WORKSPACE/ROSConDemo/Project \
-        && . /opt/ros/${ROS_DISTRO}/setup.sh \
+        && . /opt/ros/humble/setup.sh \
         && cd $WORKSPACE/ROSConDemo/Project \
         && cmake -B $WORKSPACE/ROSConDemo/Project/build/linux -S . -G "Ninja Multi-Config" -DLY_DISABLE_TEST_MODULES=ON -DLY_STRIP_DEBUG_SYMBOLS=ON \
         && cmake --build $WORKSPACE/ROSConDemo/Project/build/linux --config profile --target ROSConDemo.GameLauncher ROSConDemo.Assets -j $CMAKE_JOBS \
@@ -234,11 +218,7 @@ RUN echo "[Unit]" > /etc/systemd/system/setup_ros.service \
     && echo "After=network.target" >> /etc/systemd/system/setup_ros.service \
     && echo "" >> /etc/systemd/system/setup_ros.service \
     && echo "[Service]" >> /etc/systemd/system/setup_ros.service \
-    && if [ "${ROS_VERSION}" = "humble" ]; then \
-         echo "ExecStart=/opt/ros/humble/setup.bash" >> /etc/systemd/system/setup_ros.service; \
-       elif [ "${ROS_VERSION}" = "galactic" ]; then \
-         echo "ExecStart=/opt/ros/galactic/setup.bash" >> /etc/systemd/system/setup_ros.service; \
-       fi \
+    && echo "ExecStart=/opt/ros/humble/setup.bash" >> /etc/systemd/system/setup_ros.service; \
     && echo "" >> /etc/systemd/system/setup_ros.service \
     && echo "[Install]" >> /etc/systemd/system/setup_ros.service \
     && echo "WantedBy=default.target" >> /etc/systemd/system/setup_ros.service \

docker/README.md

@@ -1,6 +1,6 @@
 # Dockerfile for running the ROSConDemo
 
-The dockerfile defined in this path will prepare the appropiate ROS2 package (Ubuntu 20.04/Focal Galactic or Ubuntu 22.04/Jammy + Humble) based environment and build the components necessary to run the ROSCon demo project simulator through the O3DE engine.
+The dockerfile defined in this path will prepare the appropiate ROS2 Humble distribution based environment and build the components necessary to run the ROSCon demo project simulator through the O3DE engine.
 
 ## Prerequisites
 
@@ -57,16 +57,6 @@ To launch the O3DE simulation launcher for the ROSConDemo project, execute the f
 To spawn or launch the rviz visualizer, follow the [kraken_nav README file](https://github.com/o3de/ROSConDemo/blob/development/kraken_nav/README.md#running-simulation)
 
 ## Advanced Options
-### Target ROS2 Distribution
-The Docker script defaults to building an image based on Ubuntu 22.04 (jammy) and the ROS2 Humble distribution. This can be overridden 
-with a combination if the `ROS_VERSION` and `UBUNTU_VERSION` arguments.
-
-| ROS2 Distro   | Repository                                |
-|---------------|-------------------------------------------|
-| galactic      | ROS_VERSION=galactic UBUNTU_VERSION=focal |
-| humble        | ROS_VERSION=humble UBUNTU_VERSION=jammy   |
-
-
 ### Custom source repos and branches
 
 The Dockerscripts use the following arguments to determine the repository to pull the source from.