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Merged
YoheiKakiuchi merged 2 commits into from
Jul 27, 2026
Merged

Add lyrical #8

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dfcf6ec
fix: Dockerfile.add_one (for ubuntu26.04)
YoheiKakiuchi Jul 27, 2026
d2e6f0f
add build ROS2 lyrical
YoheiKakiuchi Jul 27, 2026
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18 changes: 14 additions & 4 deletions .github/workflows/build-seq.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -41,10 +41,14 @@ jobs:
cuda: none
- ubuntu: 24.04
cuda: none
- ubuntu: 26.04
cuda: none
- ubuntu: 22.04one
cuda: none
- ubuntu: 24.04one
cuda: none
#- ubuntu: 26.04one
# cuda: none
runs-on: self-hosted
env:
IMAGE_NAME: irsl_base
Expand All @@ -54,18 +58,24 @@ jobs:
steps:
- name: Check Version
run: |
if [ ${{ matrix.ubuntu }} == 24.04one ]; then
if [ ${{ matrix.ubuntu }} == 26.04one ]; then
echo "ROS_DISTRO=one" >> $GITHUB_ENV
echo "UBUNTU_VER=26.04" >> $GITHUB_ENV
elif [ ${{ matrix.ubuntu }} == 24.04one ]; then
echo "ROS_DISTRO=one" >> $GITHUB_ENV
echo "UBUNTU_VER=24.04" >> $GITHUB_ENV
elif [ ${{ matrix.ubuntu }} == 22.04one ]; then
echo "ROS_DISTRO=one" >> $GITHUB_ENV
echo "UBUNTU_VER=22.04" >> $GITHUB_ENV
elif [ ${{ matrix.ubuntu }} == 24.04rolling ]; then
echo "ROS_DISTRO=rolling" >> $GITHUB_ENV
echo "UBUNTU_VER=24.04" >> $GITHUB_ENV
elif [ ${{ matrix.ubuntu }} == 26.04 ]; then
echo "ROS_DISTRO=lyrical" >> $GITHUB_ENV
echo "UBUNTU_VER=26.04" >> $GITHUB_ENV
elif [ ${{ matrix.ubuntu }} == 24.04 ]; then
echo "ROS_DISTRO=jazzy" >> $GITHUB_ENV
echo "UBUNTU_VER=24.04" >> $GITHUB_ENV
elif [ ${{ matrix.ubuntu }} == 22.04one ]; then
echo "ROS_DISTRO=one" >> $GITHUB_ENV
echo "UBUNTU_VER=22.04" >> $GITHUB_ENV
elif [ ${{ matrix.ubuntu }} == 22.04 ]; then
echo "ROS_DISTRO=humble" >> $GITHUB_ENV
echo "UBUNTU_VER=22.04" >> $GITHUB_ENV
Expand Down
84 changes: 84 additions & 0 deletions Dockerfile.add_lyrical
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Original file line number Diff line number Diff line change
@@ -0,0 +1,84 @@
# This is an auto generated Dockerfile for ros:ros-core
# generated from docker_images_ros2/create_ros_core_image.Dockerfile.em
ARG BASE_IMAGE=ubuntu:resolute
FROM ${BASE_IMAGE}

RUN if [ ! -e /etc/timezone ]; then \
echo "Etc/UTC" > /etc/timezone && \
ln -s /usr/share/zoneinfo/Etc/UTC /etc/localtime && \
apt-get update && \
apt-get install -q -y --no-install-recommends tzdata && \
rm -rf /var/lib/apt/lists/* ; \
fi
## setup timezone(org)
#RUN echo 'Etc/UTC' > /etc/timezone && \
# ln -s /usr/share/zoneinfo/Etc/UTC /etc/localtime && \
# apt-get update && \
# apt-get install -q -y --no-install-recommends tzdata && \
# rm -rf /var/lib/apt/lists/*
#
# 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 ROS Apt sources
RUN curl -L -s -f -o /tmp/ros2-apt-source.deb https://github.com/ros-infrastructure/ros-apt-source/releases/download/1.2.0/ros2-apt-source_1.2.0.resolute_all.deb \
&& echo "a275b9b819874e745a928e83e39c429fa4d607159285c4ef3ebcf75afa732ee3 */tmp/ros2-apt-source.deb" | sha256sum --strict --check \
&& apt-get update \
&& apt-get install /tmp/ros2-apt-source.deb \
&& rm -f /tmp/ros2-apt-source.deb \
&& rm -rf /var/lib/apt/lists/*

## setup environment
#ENV LANG=C.UTF-8
#ENV LC_ALL=C.UTF-8
#
ENV ROS_DISTRO=lyrical

# install ros2 packages
RUN apt-get update && apt-get install -y --no-install-recommends \
ros-lyrical-ros-core=0.13.0-3* \
&& rm -rf /var/lib/apt/lists/*

## setup entrypoint
#COPY ./ros_entrypoint.sh /
#
#ENTRYPOINT ["/ros_entrypoint.sh"]
#CMD ["bash"]
#### start:ros-base
## This is an auto generated Dockerfile for ros:ros-base
## generated from docker_images_ros2/create_ros_image.Dockerfile.em
#FROM ros:lyrical-ros-core-resolute
#
# install bootstrap tools
RUN apt-get update && apt-get install --no-install-recommends -y \
build-essential \
git \
python3-colcon-common-extensions \
python3-colcon-mixin \
python3-rosdep \
python3-vcstool \
&& rm -rf /var/lib/apt/lists/*

# bootstrap rosdep
RUN rosdep init && \
rosdep update --rosdistro $ROS_DISTRO

# setup colcon mixin and metadata
RUN colcon mixin add default \
https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml && \
colcon mixin update && \
colcon metadata add default \
https://raw.githubusercontent.com/colcon/colcon-metadata-repository/master/index.yaml && \
colcon metadata update

# install ros2 packages
RUN apt-get update && apt-get install -y --no-install-recommends \
ros-lyrical-ros-base=0.13.0-3* \
&& rm -rf /var/lib/apt/lists/*

4 changes: 2 additions & 2 deletions Dockerfile.add_one
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Original file line number Diff line number Diff line change
Expand Up @@ -7,9 +7,9 @@ FROM ${BASE_IMAGE}

RUN if [ ! -e /etc/timezone ]; then \
echo "Etc/UTC" > /etc/timezone && \
ln -s /usr/share/zoneinfo/Etc/UTC /etc/localtime && \
ln -sf /usr/share/zoneinfo/Etc/UTC /etc/localtime && \
apt-get update && \
apt-get install -q -y --no-install-recommends tzdata && \
apt-get install -q -y --no-install-recommends tzdata && \
rm -rf /var/lib/apt/lists/* ; \
fi
# # setup timezone
Expand Down
16 changes: 12 additions & 4 deletions gen_add_ros.sh
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Original file line number Diff line number Diff line change
Expand Up @@ -25,6 +25,14 @@ function conditional_set_timezone {
sed -i -e 's@^## setup timezone@RUN if [ ! -e /etc/timezone ]; then \\ \n echo "Etc/UTC" > /etc/timezone \&\& \\ \n ln -s /usr/share/zoneinfo/Etc/UTC /etc/localtime \&\& \\ \n apt-get update \&\& \\ \n apt-get install -q -y --no-install-recommends tzdata \&\& \\ \n rm -rf /var/lib/apt/lists/* ; \\ \n fi\n## setup timezone(org)@' $1
}

## noetic 20.04
FNAME=Dockerfile.add_noetic
wget ${BASE}master/ros/noetic/ubuntu/focal/ros-core/Dockerfile -O - > "${FNAME}"
echo "### start:ros-base" >> "${FNAME}"
wget ${BASE}master/ros/noetic/ubuntu/focal/ros-base/Dockerfile -O - >> "${FNAME}"
fix_downloaded "${FNAME}"
conditional_set_timezone "${FNAME}"

## humble 22.04
FNAME=Dockerfile.add_humble
wget ${BASE}master/ros/humble/ubuntu/jammy/ros-core/Dockerfile -O - > "${FNAME}"
Expand All @@ -41,11 +49,11 @@ wget ${BASE}master/ros/jazzy/ubuntu/noble/ros-base/Dockerfile -O - >> "${FNAME}"
fix_downloaded "${FNAME}"
conditional_set_timezone "${FNAME}"

## noetic 20.04
FNAME=Dockerfile.add_noetic
wget ${BASE}master/ros/noetic/ubuntu/focal/ros-core/Dockerfile -O - > "${FNAME}"
## lyrical 26.04
FNAME=Dockerfile.add_lyrical
wget ${BASE}master/ros/lyrical/ubuntu/resolute/ros-core/Dockerfile -O - > "${FNAME}"
echo "### start:ros-base" >> "${FNAME}"
wget ${BASE}master/ros/noetic/ubuntu/focal/ros-base/Dockerfile -O - >> "${FNAME}"
wget ${BASE}master/ros/lyrical/ubuntu/resolute/ros-base/Dockerfile -O - >> "${FNAME}"
fix_downloaded "${FNAME}"
conditional_set_timezone "${FNAME}"

Expand Down
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