Merge pull request #81 from gstavrinos/rust-integration

Rust integration
gstavrinos · Nov 4, 2024 · 667fbc3 · 667fbc3
2 parents 7e1fbb1 + 6d149b4
commit 667fbc3
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diff --git a/README.md b/README.md
@@ -71,4 +71,6 @@ TODO
   - Introduced a the `kill-container` or `kc` flag to forcefully kill the `rosez*` container.
   - Now sharing `/media` between host and container.
   - Fixed a bug that occured when the output of the build command was too long.
-- [For versions >= `v2.4.0`] Added support for ROS2 Jazzy. **NOTE**: The `ros2ez` command has now been disabled, since currently two ROS2 LTS versions are supported. ROS2 Humble can now been used with the `ros2ezh` command, following the typical `rosez*`/`ros2ez*` scheme. **WARNING**: This versions breaks humble installations. In order to migrate, your best bet is to rename `ros2ez-volume*` volumes to their equivalent `ros2ezh-volume*`.
+  - Accidentally, a new bug for ROS1 was introduced in this release. It is fixed in `v2.5.0`.
+- [For versions >= `v2.4.0`] Added support for ROS2 Jazzy. **NOTE**: The `ros2ez` command has now been disabled, since currently two ROS2 LTS versions are supported. ROS2 Humble can now been used with the `ros2ezh` command, following the typical `rosez*`/`ros2ez*` scheme. **WARNING**: This versions breaks humble installations. In order to migrate, your best bet is to rename `ros2ez-volume*` volumes to their equivalent `ros2ezh-volume*`. Accidentally, a new bug for ROS1 was introduced in this release. It is fixed in `v2.5.0`.
+- [For versions >= `v2.5.0`] Added rust support for all ROS distributions. Also, fixed bug #79 that was introduced in `v2.3.0`.
diff --git a/internal/entrypoint.bash b/internal/entrypoint.bash
@@ -49,7 +49,7 @@ if [ "$rosversion" != "unknown" ]; then
       intermediate_error_handler $?
     else
       if [ $skip_compilation -ne 1 ]; then
-        script --flush --quiet --return /tmp/rosez-build-output.txt --command "catkin_make"
+        script --flush --quiet --return /tmp/rosez-build-output.txt --command "catkin_make" | tee /dev/fd/2
         intermediate_error_handler $?
       fi
       . /opt/ros/$bl/devel/setup.bash
@@ -69,4 +69,5 @@ if [ "$rosversion" != "unknown" ]; then
   exec "$@"
   trap - $signal_list
 fi
-# . "$HOME/.cargo/env"
+export PATH=/home/rosez_user/.local/bin:$PATH
+. "$HOME/.cargo/env"
diff --git a/internal/ros2_foxy_Dockerfile b/internal/ros2_foxy_Dockerfile
@@ -10,6 +10,22 @@ FROM osrf/ros:foxy-ros1-bridge
 
 LABEL maintainer="George Stavrinos <gstavrinos@protonmail.com>"
 
+VOLUME /opt/ros/foxy\
+/bin\
+/etc\
+/home\
+/lib\
+/lib64\
+/mnt\
+/opt\
+/root\
+/run\
+/sbin\
+/srv\
+/sys\
+/usr\
+/var
+
 RUN apt-get update --allow-insecure-repositories && apt-get install -y curl && curl http://repo.ros2.org/repos.key | apt-key add - && apt-get update && apt-get full-upgrade -y && DEBIAN_FRONTEND=noninteractive apt-get install -y \
 git \
 gdb \
@@ -56,20 +72,4 @@ ARG GROUP_ID=16661
 RUN addgroup --gid $GROUP_ID rosez_user && adduser --disabled-password --gecos '' --uid $USER_ID --gid $GROUP_ID rosez_user && usermod -aG sudo rosez_user && echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers && touch /home/rosez_user/.sudo_as_admin_successful
 
 USER rosez_user
-RUN sudo chown -R rosez_user:rosez_user /home/rosez_user && rosdep update && pip3 install pre-commit
-
-VOLUME /opt/ros/foxy\
-/bin\
-/etc\
-/home\
-/lib\
-/lib64\
-/mnt\
-/opt\
-/root\
-/run\
-/sbin\
-/srv\
-/sys\
-/usr\
-/var
+RUN sudo chown -R rosez_user:rosez_user /home/rosez_user && rosdep update && pip3 install pre-commit && curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh -s -- -y
diff --git a/internal/ros2_humble_Dockerfile b/internal/ros2_humble_Dockerfile
@@ -10,10 +10,27 @@ FROM osrf/ros:humble-desktop-full
 
 LABEL maintainer="George Stavrinos <gstavrinos@protonmail.com>"
 
+VOLUME /opt/ros/humble\
+/bin\
+/etc\
+/home\
+/lib\
+/lib64\
+/mnt\
+/opt\
+/root\
+/run\
+/sbin\
+/srv\
+/sys\
+/usr\
+/var
+
 RUN mkdir -p /opt/ros/ros2_ws/src && apt-get update && apt-get full-upgrade -y && DEBIAN_FRONTEND=noninteractive apt-get install -y \
 git \
 gdb \
 vim \
+curl \
 xterm \
 valgrind \
 pulseaudio \
@@ -54,20 +71,4 @@ ARG GROUP_ID=16661
 RUN addgroup --gid $GROUP_ID rosez_user && adduser --disabled-password --gecos '' --uid $USER_ID --gid $GROUP_ID rosez_user && usermod -aG sudo rosez_user && echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers && touch /home/rosez_user/.sudo_as_admin_successful
 
 USER rosez_user
-RUN sudo chown -R rosez_user:rosez_user /home/rosez_user && rosdep update && pip3 install pre-commit
-
-VOLUME /opt/ros/humble\
-/bin\
-/etc\
-/home\
-/lib\
-/lib64\
-/mnt\
-/opt\
-/root\
-/run\
-/sbin\
-/srv\
-/sys\
-/usr\
-/var
+RUN sudo chown -R rosez_user:rosez_user /home/rosez_user && rosdep update && pip3 install pre-commit && curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh -s -- -y
diff --git a/internal/ros2_jazzy_Dockerfile b/internal/ros2_jazzy_Dockerfile
@@ -10,10 +10,27 @@ FROM osrf/ros:jazzy-desktop-full
 
 LABEL maintainer="George Stavrinos <gstavrinos@protonmail.com>"
 
+VOLUME /opt/ros/jazzy\
+/bin\
+/etc\
+/home\
+/lib\
+/lib64\
+/mnt\
+/opt\
+/root\
+/run\
+/sbin\
+/srv\
+/sys\
+/usr\
+/var
+
 RUN mkdir -p /opt/ros/ros2_ws/src && apt-get update && apt-get full-upgrade -y && DEBIAN_FRONTEND=noninteractive apt-get install -y \
 git \
 gdb \
 vim \
+curl \
 xterm \
 libgl1 \
 valgrind \
@@ -57,20 +74,4 @@ ARG GROUP_ID=16661
 RUN getent group $GROUP_ID | cut -d: -f1 | xargs -r groupdel >/dev/null 2>&1 && getent passwd $USER_ID | cut -d: -f1 | xargs -r userdel -r >/dev/null 2>&1 && addgroup --gid $GROUP_ID rosez_user && useradd --create-home --password '' --comment '' --uid $USER_ID --gid $GROUP_ID rosez_user && usermod -aG sudo rosez_user && echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers && touch /home/rosez_user/.sudo_as_admin_successful
 
 USER rosez_user
-RUN sudo chown -R rosez_user:rosez_user /home/rosez_user && rosdep update && pip3 install bloom --break-system-packages
-
-VOLUME /opt/ros/jazzy\
-/bin\
-/etc\
-/home\
-/lib\
-/lib64\
-/mnt\
-/opt\
-/root\
-/run\
-/sbin\
-/srv\
-/sys\
-/usr\
-/var
+RUN sudo chown -R rosez_user:rosez_user /home/rosez_user && rosdep update && pip3 install -U bloom --break-system-packages && curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh -s -- -y
diff --git a/internal/ros_Dockerfile b/internal/ros_Dockerfile
@@ -10,10 +10,27 @@ FROM osrf/ros:noetic-desktop-full
 
 LABEL maintainer="George Stavrinos <gstavrinos@protonmail.com>"
 
+VOLUME /opt/ros/noetic\
+/bin\
+/etc\
+/home\
+/lib\
+/lib64\
+/mnt\
+/opt\
+/root\
+/run\
+/sbin\
+/srv\
+/sys\
+/usr\
+/var
+
 RUN mkdir -p /opt/ros/catkin_ws/src && apt-get update && apt-get full-upgrade -y && DEBIAN_FRONTEND=noninteractive apt-get install -y \
 git \
 gdb \
 vim \
+curl \
 xterm \
 valgrind \
 pulseaudio \
@@ -53,20 +70,4 @@ ARG GROUP_ID=16661
 RUN addgroup --gid $GROUP_ID rosez_user && adduser --disabled-password --gecos '' --uid $USER_ID --gid $GROUP_ID rosez_user && usermod -aG sudo rosez_user && echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers && touch /home/rosez_user/.sudo_as_admin_successful
 
 USER rosez_user
-RUN sudo chown -R rosez_user:rosez_user /home/rosez_user && rosdep update && pip3 install pre-commit
-
-VOLUME /opt/ros/noetic\
-/bin\
-/etc\
-/home\
-/lib\
-/lib64\
-/mnt\
-/opt\
-/root\
-/run\
-/sbin\
-/srv\
-/sys\
-/usr\
-/var
+RUN sudo chown -R rosez_user:rosez_user /home/rosez_user && rosdep update && pip3 install pre-commit && curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh -s -- -y
diff --git a/internal/ros_melodic_Dockerfile b/internal/ros_melodic_Dockerfile
@@ -8,10 +8,27 @@ ENV NVIDIA_VISIBLE_DEVICES=all NVIDIA_DRIVER_CAPABILITIES=all
 
 LABEL maintainer="George Stavrinos <gstavrinos@protonmail.com>"
 
+VOLUME /opt/ros/melodic\
+/bin\
+/etc\
+/home\
+/lib\
+/lib64\
+/mnt\
+/opt\
+/root\
+/run\
+/sbin\
+/srv\
+/sys\
+/usr\
+/var
+
 RUN mkdir -p /opt/ros/catkin_ws/src && apt-get update && apt-get full-upgrade -y && DEBIAN_FRONTEND=noninteractive apt-get install -y \
 git \
 gdb \
 vim \
+curl \
 xterm \
 valgrind \
 python-pip \
@@ -51,20 +68,4 @@ ARG GROUP_ID=16661
 RUN addgroup --gid $GROUP_ID rosez_user && adduser --disabled-password --gecos '' --uid $USER_ID --gid $GROUP_ID rosez_user && usermod -aG sudo rosez_user && echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers && touch /home/rosez_user/.sudo_as_admin_successful
 
 USER rosez_user
-RUN sudo chown -R rosez_user:rosez_user /home/rosez_user && rosdep update && pip3 install pre-commit
-
-VOLUME /opt/ros/melodic\
-/bin\
-/etc\
-/home\
-/lib\
-/lib64\
-/mnt\
-/opt\
-/root\
-/run\
-/sbin\
-/srv\
-/sys\
-/usr\
-/var
+RUN sudo chown -R rosez_user:rosez_user /home/rosez_user && rosdep update && pip3 install pre-commit && curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh -s -- -y