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Update multivehicle examples to use jazzy version; modify README, bui… #9

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2 changes: 1 addition & 1 deletion multivehicle/README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -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:
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6 changes: 3 additions & 3 deletions multivehicle/build.bash
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Expand Up @@ -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
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16 changes: 8 additions & 8 deletions multivehicle/docker/Dockerfile
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@@ -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}
6 changes: 5 additions & 1 deletion multivehicle/examples.repos
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Expand Up @@ -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
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2 changes: 1 addition & 1 deletion multivehicle/run.bash
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Expand Up @@ -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)"

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6 changes: 3 additions & 3 deletions multivehicle/tmuxp/mvsim_debug.yaml
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Expand Up @@ -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:
Expand Down Expand Up @@ -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
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