osrf · mikaelarguedas · May 31, 2025 · May 31, 2025 · May 31, 2025 · May 31, 2025
diff --git a/docker/requirements.txt b/docker/requirements.txt
@@ -9,7 +9,7 @@ ros_buildfarm
 
 ###### Requirements with Repo Specifiers ######
 #   See https://pip.readthedocs.io/en/stable/reference/pip_install/#git
-git+https://github.com/osrf/docker_templates.git@master#egg=docker_templates
+git+https://github.com/osrf/docker_templates.git@follow-up-templates-114#egg=docker_templates
 
 ###### Requirements with Version Specifiers ######
 #   See https://www.python.org/dev/peps/pep-0440/#version-specifiers

diff --git a/ros/galactic/ubuntu/focal/platform.yaml b/ros/galactic/ubuntu/focal/platform.yaml
@@ -11,4 +11,3 @@ platform:
     arch: amd64
     type: distribution
     version:
-    ros_version: 2
diff --git a/ros/galactic/ubuntu/focal/ros-core/Dockerfile b/ros/galactic/ubuntu/focal/ros-core/Dockerfile
@@ -11,21 +11,31 @@ RUN echo 'Etc/UTC' > /etc/timezone && \
 
 # install packages
 RUN apt-get update && apt-get install -q -y --no-install-recommends \
+    ca-certificates \
+    curl \
     dirmngr \
     gnupg2 \
     && rm -rf /var/lib/apt/lists/*
 
+
 # setup keys
-RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 4B63CF8FDE49746E98FA01DDAD19BAB3CBF125EA
+RUN set -eux; \
+       key='4B63CF8FDE49746E98FA01DDAD19BAB3CBF125EA'; \
+       export GNUPGHOME="$(mktemp -d)"; \
+       gpg --batch --keyserver keyserver.ubuntu.com --recv-keys "$key"; \
+       mkdir -p /usr/share/keyrings; \
+       gpg --batch --export "$key" > /usr/share/keyrings/ros2-snapshots-archive-keyring.gpg; \
+       gpgconf --kill all; \
+       rm -rf "$GNUPGHOME"
 
 # setup sources.list
-RUN echo "deb http://snapshots.ros.org/galactic/final/ubuntu focal main" > /etc/apt/sources.list.d/ros2-snapshots.list
+RUN echo "deb [ signed-by=/usr/share/keyrings/ros2-snapshots-archive-keyring.gpg ] http://snapshots.ros.org/galactic/final/ubuntu focal main" > /etc/apt/sources.list.d/ros2-snapshots.list
 
 # setup environment
-ENV LANG C.UTF-8
-ENV LC_ALL C.UTF-8
+ENV LANG=C.UTF-8
+ENV LC_ALL=C.UTF-8
 
-ENV ROS_DISTRO galactic
+ENV ROS_DISTRO=galactic
 
 # install ros2 packages
 RUN apt-get update && apt-get install -y --no-install-recommends \

diff --git a/ros/galactic/ubuntu/focal/ros1-bridge/Dockerfile b/ros/galactic/ubuntu/focal/ros1-bridge/Dockerfile
@@ -2,20 +2,26 @@
 # generated from docker_images_ros2/ros1_bridge/create_ros_ros1_bridge_image.Dockerfile.em
 FROM ros:galactic-ros-base-focal
 
-# setup keys
-RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
+# install packages
+RUN apt-get update && apt-get install -q -y --no-install-recommends \
+    ca-certificates \
+    curl \
+    && rm -rf /var/lib/apt/lists/*
+
 
-# setup sources.list
-RUN echo "deb http://packages.ros.org/ros/ubuntu focal main" > /etc/apt/sources.list.d/ros1-latest.list
+RUN curl -L -s -o /tmp/ros-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/1.1.0/ros-apt-source_1.1.0.$(. /etc/os-release && echo $VERSION_CODENAME)_all.deb" \
+    && apt-get update \
+    && apt-get install /tmp/ros-apt-source.deb \
+    && rm -f /tmp/ros-apt-source.deb
 
-ENV ROS1_DISTRO noetic
-ENV ROS2_DISTRO galactic
+ENV ROS1_DISTRO=noetic
+ENV ROS2_DISTRO=galactic
 
 # install ros packages
 RUN apt-get update && apt-get install -y --no-install-recommends \
-    ros-noetic-ros-comm=1.16.0-1* \
-    ros-noetic-roscpp-tutorials=0.10.2-1* \
-    ros-noetic-rospy-tutorials=0.10.2-1* \
+    ros-noetic-ros-comm=1.17.4-1* \
+    ros-noetic-roscpp-tutorials=0.10.3-1* \
+    ros-noetic-rospy-tutorials=0.10.3-1* \
     && rm -rf /var/lib/apt/lists/*
 
 # install ros2 packages

diff --git a/ros/humble/ubuntu/jammy/ros-core/Dockerfile b/ros/humble/ubuntu/jammy/ros-core/Dockerfile
@@ -18,10 +18,7 @@ RUN apt-get update && apt-get install -q -y --no-install-recommends \
     && rm -rf /var/lib/apt/lists/*
 
 
-# NOTE: this doesnt deal with snapshots repo as not clear what to install for those..
-# NOTE: How do we break cache and ensure rebuild if that version changes ?
-RUN export ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F\" '{print $4}') ;\
-    curl -L -s -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo $VERSION_CODENAME)_all.deb" \
+RUN curl -L -s -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/1.1.0/ros2-apt-source_1.1.0.$(. /etc/os-release && echo $VERSION_CODENAME)_all.deb" \
     && apt-get update \
     && apt-get install /tmp/ros2-apt-source.deb \
     && rm -f /tmp/ros2-apt-source.deb

diff --git a/ros/iron/ubuntu/jammy/ros-core/Dockerfile b/ros/iron/ubuntu/jammy/ros-core/Dockerfile
@@ -11,10 +11,13 @@ RUN echo 'Etc/UTC' > /etc/timezone && \
 
 # install packages
 RUN apt-get update && apt-get install -q -y --no-install-recommends \
+    ca-certificates \
+    curl \
     dirmngr \
     gnupg2 \
     && rm -rf /var/lib/apt/lists/*
 
+
 # setup keys
 RUN set -eux; \
        key='4B63CF8FDE49746E98FA01DDAD19BAB3CBF125EA'; \

diff --git a/ros/jazzy/ubuntu/noble/ros-core/Dockerfile b/ros/jazzy/ubuntu/noble/ros-core/Dockerfile
@@ -18,10 +18,7 @@ RUN apt-get update && apt-get install -q -y --no-install-recommends \
     && rm -rf /var/lib/apt/lists/*
 
 
-# NOTE: this doesnt deal with snapshots repo as not clear what to install for those..
-# NOTE: How do we break cache and ensure rebuild if that version changes ?
-RUN export ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F\" '{print $4}') ;\
-    curl -L -s -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo $VERSION_CODENAME)_all.deb" \
+RUN curl -L -s -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/1.1.0/ros2-apt-source_1.1.0.$(. /etc/os-release && echo $VERSION_CODENAME)_all.deb" \
     && apt-get update \
     && apt-get install /tmp/ros2-apt-source.deb \
     && rm -f /tmp/ros2-apt-source.deb

diff --git a/ros/kilted/ubuntu/noble/ros-core/Dockerfile b/ros/kilted/ubuntu/noble/ros-core/Dockerfile
@@ -18,10 +18,7 @@ RUN apt-get update && apt-get install -q -y --no-install-recommends \
     && rm -rf /var/lib/apt/lists/*
 
 
-# NOTE: this doesnt deal with snapshots repo as not clear what to install for those..
-# NOTE: How do we break cache and ensure rebuild if that version changes ?
-RUN export ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F\" '{print $4}') ;\
-    curl -L -s -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo $VERSION_CODENAME)_all.deb" \
+RUN curl -L -s -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/1.1.0/ros2-apt-source_1.1.0.$(. /etc/os-release && echo $VERSION_CODENAME)_all.deb" \
     && apt-get update \
     && apt-get install /tmp/ros2-apt-source.deb \
     && rm -f /tmp/ros2-apt-source.deb

diff --git a/ros/manifest.yaml b/ros/manifest.yaml
@@ -536,19 +536,19 @@ release_names:
                             - arm64v8
                         tag_names:
                             # EOL
-                            # ros-core:
-                            #     aliases:
-                            #         - "$release_name-ros-core"
-                            #         - "$release_name-ros-core-$os_code_name"
-                            # ros-base:
-                            #     aliases:
-                            #         - "$release_name-ros-base"
-                            #         - "$release_name-ros-base-$os_code_name"
-                            #         - "$release_name"
-                            # ros1-bridge:
-                            #     aliases:
-                            #         - "$release_name-ros1-bridge"
-                            #         - "$release_name-ros1-bridge-$os_code_name"
+                            ros-core:
+                                aliases:
+                                    - "$release_name-ros-core"
+                                    - "$release_name-ros-core-$os_code_name"
+                            ros-base:
+                                aliases:
+                                    - "$release_name-ros-base"
+                                    - "$release_name-ros-base-$os_code_name"
+                                    - "$release_name"
+                            ros1-bridge:
+                                aliases:
+                                    - "$release_name-ros1-bridge"
+                                    - "$release_name-ros1-bridge-$os_code_name"
     humble:
         eol: 2025-05
         os_names:
@@ -585,19 +585,19 @@ release_names:
                             - arm64v8
                         tag_names:
                             # EOL
-                            # ros-core:
-                            #     aliases:
-                            #         - "$release_name-ros-core"
-                            #         - "$release_name-ros-core-$os_code_name"
-                            # ros-base:
-                            #     aliases:
-                            #         - "$release_name-ros-base"
-                            #         - "$release_name-ros-base-$os_code_name"
-                            #         - "$release_name"
-                            # perception:
-                            #     aliases:
-                            #         - "$release_name-perception"
-                            #         - "$release_name-perception-$os_code_name"
+                            ros-core:
+                                aliases:
+                                    - "$release_name-ros-core"
+                                    - "$release_name-ros-core-$os_code_name"
+                            ros-base:
+                                aliases:
+                                    - "$release_name-ros-base"
+                                    - "$release_name-ros-base-$os_code_name"
+                                    - "$release_name"
+                            perception:
+                                aliases:
+                                    - "$release_name-perception"
+                                    - "$release_name-perception-$os_code_name"
     jazzy:
         eol: 2029-05
         os_names:

diff --git a/ros/noetic/ubuntu/focal/ros-core/Dockerfile b/ros/noetic/ubuntu/focal/ros-core/Dockerfile
@@ -18,10 +18,7 @@ RUN apt-get update && apt-get install -q -y --no-install-recommends \
     && rm -rf /var/lib/apt/lists/*
 
 
-# NOTE: this doesnt deal with snapshots repo as not clear what to install for those..
-# NOTE: How do we break cache and ensure rebuild if that version changes ?
-RUN export ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F\" '{print $4}') ;\
-    curl -L -s -o /tmp/ros-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo $VERSION_CODENAME)_all.deb" \
+RUN curl -L -s -o /tmp/ros-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/1.1.0/ros-apt-source_1.1.0.$(. /etc/os-release && echo $VERSION_CODENAME)_all.deb" \
     && apt-get update \
     && apt-get install /tmp/ros-apt-source.deb \
     && rm -f /tmp/ros-apt-source.deb

diff --git a/ros/rolling/ubuntu/noble/ros-core/Dockerfile b/ros/rolling/ubuntu/noble/ros-core/Dockerfile
@@ -18,10 +18,7 @@ RUN apt-get update && apt-get install -q -y --no-install-recommends \
     && rm -rf /var/lib/apt/lists/*
 
 
-# NOTE: this doesnt deal with snapshots repo as not clear what to install for those..
-# NOTE: How do we break cache and ensure rebuild if that version changes ?
-RUN export ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F\" '{print $4}') ;\
-    curl -L -s -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo $VERSION_CODENAME)_all.deb" \
+RUN curl -L -s -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/1.1.0/ros2-apt-source_1.1.0.$(. /etc/os-release && echo $VERSION_CODENAME)_all.deb" \
     && apt-get update \
     && apt-get install /tmp/ros2-apt-source.deb \
     && rm -f /tmp/ros2-apt-source.deb

diff --git a/ros2/nightly/nightly/Dockerfile b/ros2/nightly/nightly/Dockerfile
@@ -12,7 +12,9 @@ RUN echo 'Etc/UTC' > /etc/timezone && \
 # install packages
 RUN apt-get update && apt-get install -q -y --no-install-recommends \
     bash-completion \
+    ca-certificates \
     cmake \
+    curl \
     dirmngr \
     git \
     gnupg2 \
@@ -37,18 +39,10 @@ RUN apt-get update && apt-get install -q -y --no-install-recommends \
     wget \
     && rm -rf /var/lib/apt/lists/*
 
-# setup keys
-RUN set -eux; \
-       key='C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654'; \
-       export GNUPGHOME="$(mktemp -d)"; \
-       gpg --batch --keyserver keyserver.ubuntu.com --recv-keys "$key"; \
-       mkdir -p /usr/share/keyrings; \
-       gpg --batch --export "$key" > /usr/share/keyrings/ros2-testing-archive-keyring.gpg; \
-       gpgconf --kill all; \
-       rm -rf "$GNUPGHOME"
-
-# setup sources.list
-RUN echo "deb [ signed-by=/usr/share/keyrings/ros2-testing-archive-keyring.gpg ] http://packages.ros.org/ros2-testing/ubuntu noble main" > /etc/apt/sources.list.d/ros2-testing.list
+RUN curl -L -s -o /tmp/ros2-testing-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/1.1.0/ros2-testing-apt-source_1.1.0.$(. /etc/os-release && echo $VERSION_CODENAME)_all.deb" \
+    && apt-get update \
+    && apt-get install /tmp/ros2-testing-apt-source.deb \
+    && rm -f /tmp/ros2-testing-apt-source.deb
 
 # install bootstrap tools
 RUN apt-get update && apt-get install --no-install-recommends -y \
@@ -61,10 +55,10 @@ RUN apt-get update && apt-get install --no-install-recommends -y \
     && rm -rf /var/lib/apt/lists/*
 
 # setup environment
-ENV ROS_DISTRO rolling
-ENV LANG C.UTF-8
-ENV LC_ALL C.UTF-8
-ENV ROSDISTRO_INDEX_URL https://raw.githubusercontent.com/osrf/docker_images/master/ros2/nightly/nightly/index-v4.yaml
+ENV ROS_DISTRO=rolling
+ENV LANG=C.UTF-8
+ENV LC_ALL=C.UTF-8
+ENV ROSDISTRO_INDEX_URL=https://raw.githubusercontent.com/osrf/docker_images/master/ros2/nightly/nightly/index-v4.yaml
 
 # This is a workaround for pytest not found causing builds to fail
 # Following RUN statements tests for regression of https://github.com/ros2/ros2/issues/722

diff --git a/ros2/source/devel/Dockerfile b/ros2/source/devel/Dockerfile
@@ -1,4 +1,7 @@
-FROM ubuntu:noble-20250404
+# This is an auto generated Dockerfile for ros2:devel
+# generated from docker_images_ros2/devel/create_ros_image.Dockerfile.em
+ARG FROM_IMAGE=ubuntu:noble
+FROM $FROM_IMAGE
 
 # setup timezone
 RUN echo 'Etc/UTC' > /etc/timezone && \
@@ -10,6 +13,8 @@ RUN echo 'Etc/UTC' > /etc/timezone && \
 # install packages
 RUN apt-get update && apt-get install -q -y --no-install-recommends \
     bash-completion \
+    ca-certificates \
+    curl \
     dirmngr \
     gnupg2 \
     python3-argcomplete \
@@ -22,7 +27,6 @@ RUN apt-get update && apt-get install -q -y --no-install-recommends \
     python3-flake8-docstrings \
     python3-flake8-import-order \
     python3-flake8-quotes \
-    python3-pip \
     python3-pytest-cov \
     python3-pytest-mock \
     python3-pytest-repeat \
@@ -31,22 +35,15 @@ RUN apt-get update && apt-get install -q -y --no-install-recommends \
     python3-pytest-timeout \
     && rm -rf /var/lib/apt/lists/*
 
-# setup keys
-RUN set -eux; \
-       key='C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654'; \
-       export GNUPGHOME="$(mktemp -d)"; \
-       gpg --batch --keyserver keyserver.ubuntu.com --recv-keys "$key"; \
-       mkdir -p /usr/share/keyrings; \
-       gpg --batch --export "$key" > /usr/share/keyrings/ros2-latest-archive-keyring.gpg; \
-       gpgconf --kill all; \
-       rm -rf "$GNUPGHOME"
 
-# setup sources.list
-RUN echo "deb [ signed-by=/usr/share/keyrings/ros2-latest-archive-keyring.gpg ] http://packages.ros.org/ros2/ubuntu noble main" > /etc/apt/sources.list.d/ros2-latest.list
+RUN curl -L -s -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/1.1.0/ros2-apt-source_1.1.0.$(. /etc/os-release && echo $VERSION_CODENAME)_all.deb" \
+    && apt-get update \
+    && apt-get install /tmp/ros2-apt-source.deb \
+    && rm -f /tmp/ros2-apt-source.deb
 
 # setup environment
-ENV LANG C.UTF-8
-ENV LC_ALL C.UTF-8
+ENV LANG=C.UTF-8
+ENV LC_ALL=C.UTF-8
 
 # install bootstrap tools
 RUN apt-get update && apt-get install --no-install-recommends -y \
@@ -55,7 +52,6 @@ RUN apt-get update && apt-get install --no-install-recommends -y \
     python3-colcon-common-extensions \
     python3-colcon-mixin \
     python3-rosdep \
-    python3-setuptools \
     python3-vcstool \
     && rm -rf /var/lib/apt/lists/*
 
@@ -77,7 +73,7 @@ RUN colcon mixin add default \
     colcon metadata update
 
 # clone source
-ENV ROS2_WS /opt/ros2_ws
+ENV ROS2_WS=/opt/ros2_ws
 RUN mkdir -p $ROS2_WS/src
 WORKDIR $ROS2_WS
 

diff --git a/ros2/source/source/Dockerfile b/ros2/source/source/Dockerfile
@@ -4,26 +4,28 @@
 ARG FROM_IMAGE=osrf/ros2:devel
 FROM $FROM_IMAGE
 
-# set environment
-ARG ROS_DISTRO=rolling
+# install packages
+RUN apt-get update && apt-get install -q -y --no-install-recommends \
+    libasio-dev \
+    libssl-dev \
+    libtinyxml2-dev \
+    wget \
+    && rm -rf /var/lib/apt/lists/*
+ARG ROS_DISTRO=humble
 ENV ROS_DISTRO=$ROS_DISTRO
 ENV ROS_VERSION=2 \
     ROS_PYTHON_VERSION=3
 
-# clone source
-ARG ROS2_BRANCH=$ROS_DISTRO
-ARG ROS2_REPO=https://github.com/ros2/ros2.git
-RUN git clone $ROS2_REPO -b $ROS2_BRANCH \
-    && vcs import src < ros2/ros2.repos
+WORKDIR $ROS2_WS
+
+RUN wget https://raw.githubusercontent.com/ros2/ros2/$ROS_DISTRO-release/ros2.repos \
+    && vcs import src < ros2.repos
 
 # install dependencies
 RUN apt-get update && rosdep install -y \
     --from-paths src \
     --ignore-src \
-    --skip-keys " \
-        fastcdr \
-        rti-connext-dds-6.0.1 \
-        urdfdom_headers" \
+    --skip-keys "console_bridge fastcdr fastrtps libopensplice69 rti-connext-dds-6.0.1 urdfdom_headers" \
     && rm -rf /var/lib/apt/lists/*
 
 # build source
@@ -33,7 +35,6 @@ RUN colcon \
     --mixin build-testing-on release \
     --cmake-args --no-warn-unused-cli
 
-# test build
 ARG RUN_TESTS
 ARG FAIL_ON_TEST_FAILURE
 RUN if [ ! -z "$RUN_TESTS" ]; then \