From 2a38c086f91efd0eb45163d58dd5b4ebf5c37624 Mon Sep 17 00:00:00 2001 From: monkescripts Date: Tue, 18 Aug 2026 02:27:10 +0800 Subject: [PATCH] Update multivehicle examples to use jazzy version; modify README, build scripts, Dockerfile, and tmuxp configuration --- multivehicle/README.md | 2 +- multivehicle/build.bash | 6 +++--- multivehicle/docker/Dockerfile | 16 ++++++++-------- multivehicle/examples.repos | 6 +++++- multivehicle/run.bash | 2 +- multivehicle/tmuxp/mvsim_debug.yaml | 6 +++--- 6 files changed, 21 insertions(+), 17 deletions(-) diff --git a/multivehicle/README.md b/multivehicle/README.md index cb69a89..a9be4e9 100644 --- a/multivehicle/README.md +++ b/multivehicle/README.md @@ -23,7 +23,7 @@ cd src/multivehicle_sim cd ../examples/multivehicle ./build.bash -./run.bash multivehicle_examples:humble +./run.bash multivehicle_examples:jazzy ``` Inside the container: diff --git a/multivehicle/build.bash b/multivehicle/build.bash index 049eb12..5e86930 100755 --- a/multivehicle/build.bash +++ b/multivehicle/build.bash @@ -3,15 +3,15 @@ set -e image_name=multivehicle_examples -image_tag=humble +image_tag=jazzy if [ ! -f "docker/Dockerfile" ]; then echo "Err: docker/Dockerfile not found. Run from src/examples/multivehicle." exit 1 fi -if ! docker image inspect multivehicle_sim:humble >/dev/null 2>&1; then - echo "Err: base image multivehicle_sim:humble not found." +if ! docker image inspect multivehicle_sim:jazzy >/dev/null 2>&1; then + echo "Err: base image multivehicle_sim:jazzy not found." echo "Build it first from src/multivehicle_sim." exit 1 fi diff --git a/multivehicle/docker/Dockerfile b/multivehicle/docker/Dockerfile index dce6149..021ffb8 100644 --- a/multivehicle/docker/Dockerfile +++ b/multivehicle/docker/Dockerfile @@ -1,20 +1,20 @@ -FROM multivehicle_sim:humble +FROM multivehicle_sim:jazzy SHELL ["/bin/bash", "-o", "pipefail", "-o", "errexit", "-c"] ENV DEBIAN_FRONTEND=noninteractive ARG HOME_DIR=/root RUN apt-get update && apt-get install -y --no-install-recommends \ - ros-humble-navigation2 \ - ros-humble-nav2-bringup \ - ros-humble-py-trees \ - ros-humble-py-trees-ros \ - ros-humble-tf-transformations && \ + python3-transforms3d \ + ros-jazzy-navigation2 \ + ros-jazzy-nav2-bringup \ + ros-jazzy-py-trees \ + ros-jazzy-py-trees-ros \ + ros-jazzy-tf-transformations && \ apt-get autoremove -y && \ apt-get clean && \ rm -rf /var/lib/apt/lists/* -RUN pip3 install --no-cache-dir --ignore-installed "transforms3d>=0.4" "numpy>=1.25,<2" -RUN pip3 install --no-cache-dir mavsdk +RUN pip3 install --no-cache-dir --break-system-packages mavsdk WORKDIR ${HOME_DIR} diff --git a/multivehicle/examples.repos b/multivehicle/examples.repos index 043495b..9ca4b92 100644 --- a/multivehicle/examples.repos +++ b/multivehicle/examples.repos @@ -11,12 +11,16 @@ repositories: Micro-XRCE-DDS-Agent: type: git url: https://github.com/eProsima/Micro-XRCE-DDS-Agent.git - version: v2.4.2 + version: v2.4.3 depth: 1 gz_led_plugin: type: git url: https://github.com/BumblebeeAS/bb_led_plugin.git version: main + vehicular_distance_plugin: + type: git + url: https://github.com/BumblebeeAS/vehicular_distance_plugin.git + version: master bb_robotx_dashboard: type: git url: https://github.com/BumblebeeAS/bb_robotx_dashboard.git diff --git a/multivehicle/run.bash b/multivehicle/run.bash index d12707d..46840d8 100755 --- a/multivehicle/run.bash +++ b/multivehicle/run.bash @@ -2,7 +2,7 @@ set -e -IMAGE_NAME="${1:-multivehicle_examples:humble}" +IMAGE_NAME="${1:-multivehicle_examples:jazzy}" SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)" WORKSPACE_DIR="$(cd "${SCRIPT_DIR}/../../.." && pwd)" diff --git a/multivehicle/tmuxp/mvsim_debug.yaml b/multivehicle/tmuxp/mvsim_debug.yaml index 544acb8..8046b96 100644 --- a/multivehicle/tmuxp/mvsim_debug.yaml +++ b/multivehicle/tmuxp/mvsim_debug.yaml @@ -24,8 +24,8 @@ shell_command_before: # NVIDIA PRIME render offload — auto-enabled when an NVIDIA GPU is passed through # (rocker --nvidia mounts /dev/nvidia0). Harmless / skipped on non-NVIDIA hosts. - '[ -e /dev/nvidia0 ] && export __NV_PRIME_RENDER_OFFLOAD=1 __GLX_VENDOR_LIBRARY_NAME=nvidia || true' - - source /opt/ros/humble/setup.bash - - '[ -f "$WS_DIR/install/setup.bash" ] && source "$WS_DIR/install/setup.bash"' + - source /opt/ros/jazzy/setup.bash + - 'if [ -f "$WS_DIR/install/setup.bash" ]; then source "$WS_DIR/install/setup.bash"; else echo "WARNING: $WS_DIR/install/setup.bash not found - build first: colcon build --symlink-install"; fi' - cd "$WS_DIR" windows: @@ -87,7 +87,7 @@ windows: - cmd: ros2 launch bb_robotx_dashboard dashboard.launch.py enter: false - shell_command: - - cmd: ros2 launch bb_robotx_dashboard robotx_2026_sim.launch.py bridges_pkg:=multivehicle_sim models_pkg:=bb_worlds auv_name:=bluerov auv_pose_topic:=/bluerov/odom asv_name:=blueboat asv_pose_topic:=/blueboat/odom uav_name:=x500 uav_pose_topic:=/x500/odom + - cmd: ros2 launch bb_robotx_dashboard robotx_2026_sim.launch.py bridges_pkg:=robotx_gz models_pkg:=bb_worlds auv_name:=bluerov auv_pose_topic:=/bluerov/odom asv_name:=blueboat asv_pose_topic:=/blueboat/odom uav_name:=x500 uav_pose_topic:=/x500/odom enter: false # 6. Debug