Skip to content

Commit

Permalink
Install rviz2 to send goals to Nav2 (#126).
Browse files Browse the repository at this point in the history
  • Loading branch information
@mkhansenbot @ivanperez-keera
mkhansenbot authored and ivanperez-keera committed Jan 30, 2024
1 parent c3e2ef2 commit cf479a7
Showing 1 changed file with 3 additions and 0 deletions.
3 changes: 3 additions & 0 deletions navigation2/Dockerfile
View file
Original file line number Diff line number Diff line change
Expand Up @@ -99,6 +99,9 @@ RUN source ${NAV2_DEPS_WS}/install/setup.bash && sudo apt update && rosdep insta
SHELL ["/bin/bash", "-c"]
RUN source ${NAV2_DEPS_WS}/install/setup.bash && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON

# Install rviz2 to send goals to Nav2
RUN sudo apt update && sudo apt install -y ros-humble-rviz2

This comment has been minimized.

Sign in to view

Copy link
@asimonov

asimonov Jun 14, 2024

Matt, I think apt install pulls in entire humble from Ubuntu repos which may overwrite our spaceros humble...

This comment has been minimized.

Sign in to view

Copy link
@asimonov

asimonov Jun 14, 2024

yep, 120 packages:

spaceros-user@razer:~/nav2_ws$ dpkg -l | grep humble
ii  ros-humble-action-msgs                            1.2.1-1jammy.20240517.155727            amd64        Messages and service definitions common among all ROS actions.
ii  ros-humble-ament-cmake                            1.3.9-1jammy.20240516.152359            amd64        The entry point package for the ament buildsystem in CMake.
ii  ros-humble-ament-cmake-core                       1.3.9-1jammy.20240516.150839            amd64        The core of the ament buildsystem in CMake.
ii  ros-humble-ament-cmake-export-definitions         1.3.9-1jammy.20240516.151811            amd64        The ability to export definitions to downstream packages in the ament buildsystem.
ii  ros-humble-ament-cmake-export-dependencies        1.3.9-1jammy.20240516.152027            amd64        The ability to export dependencies to downstream packages in the ament buildsystem in CMake.
ii  ros-humble-ament-cmake-export-include-directories 1.3.9-1jammy.20240516.151829            amd64        The ability to export include directories to downstream packages in the ament buildsystem in CMake.
ii  ros-humble-ament-cmake-export-interfaces          1.3.9-1jammy.20240516.151856            amd64        The ability to export interfaces to downstream packages in the ament buildsystem in CMake.
ii  ros-humble-ament-cmake-export-libraries           1.3.9-1jammy.20240516.151828            amd64        The ability to export libraries to downstream packages in the ament buildsystem in CMake.
ii  ros-humble-ament-cmake-export-link-flags          1.3.9-1jammy.20240516.151831            amd64        The ability to export link flags to downstream packages in the ament buildsystem.
ii  ros-humble-ament-cmake-export-targets             1.3.9-1jammy.20240516.151910            amd64        The ability to export targets to downstream packages in the ament buildsystem in CMake.
ii  ros-humble-ament-cmake-gen-version-h              1.3.9-1jammy.20240516.152211            amd64        Generate a C header containing the version number of the package
ii  ros-humble-ament-cmake-gmock                      1.3.9-1jammy.20240516.162239            amd64        The ability to add Google mock-based tests in the ament buildsystem in CMake.
ii  ros-humble-ament-cmake-gtest                      1.3.9-1jammy.20240516.152141            amd64        The ability to add gtest-based tests in the ament buildsystem in CMake.
ii  ros-humble-ament-cmake-include-directories        1.3.9-1jammy.20240516.151821            amd64        The functionality to order include directories according to a chain of prefixes in the ament buildsystem in CMake.
ii  ros-humble-ament-cmake-libraries                  1.3.9-1jammy.20240516.151832            amd64        The functionality to deduplicate libraries in the ament buildsystem in CMake.
ii  ros-humble-ament-cmake-pytest                     1.3.9-1jammy.20240516.162133            amd64        The ability to run Python tests using pytest in the ament buildsystem in CMake.
ii  ros-humble-ament-cmake-python                     1.3.9-1jammy.20240516.151820            amd64        The ability to use Python in the ament buildsystem in CMake.
ii  ros-humble-ament-cmake-ros                        0.10.0-3jammy.20240516.164323           amd64        The ROS specific CMake bits in the ament buildsystem.
ii  ros-humble-ament-cmake-target-dependencies        1.3.9-1jammy.20240516.152034            amd64        The ability to add definitions, include directories and libraries of a package to a target in the ament buildsystem in CMake.
ii  ros-humble-ament-cmake-test                       1.3.9-1jammy.20240516.151851            amd64        The ability to add tests in the ament buildsystem in CMake.
ii  ros-humble-ament-cmake-version                    1.3.9-1jammy.20240516.151832            amd64        The ability to override the exported package version in the ament buildsystem.
ii  ros-humble-ament-index-cpp                        1.4.0-2jammy.20240516.164410            amd64        C++ API to access the ament resource index.
ii  ros-humble-ament-index-python                     1.4.0-2jammy.20240516.163334            amd64        Python API to access the ament resource index.
ii  ros-humble-ament-package                          0.14.0-4jammy.20220421.093117           amd64        The parser for the manifest files in the ament buildsystem.
ii  ros-humble-builtin-interfaces                     1.2.1-1jammy.20240517.155300            amd64        A package containing message and service definitions for types defined in the OMG IDL Platform Specific Model.
ii  ros-humble-class-loader                           2.2.0-3jammy.20240517.151619            amd64        The class_loader package is a ROS-independent package for loading plugins during runtime and the foundation of the higher level ROS "pluginlib" library.
ii  ros-humble-composition-interfaces                 1.2.1-1jammy.20240517.160110            amd64        A package containing message and service definitions for managing composable nodes in a container process.
ii  ros-humble-console-bridge-vendor                  1.4.1-1jammy.20240516.164704            amd64        Wrapper around console_bridge, providing nothing but a dependency on console_bridge, on some systems.
ii  ros-humble-domain-coordinator                     0.10.0-3jammy.20240516.163543           amd64        A tool to coordinate unique ROS_DOMAIN_IDs across multiple processes
ii  ros-humble-eigen3-cmake-module                    0.1.1-4jammy.20240516.163819            amd64        Exports a custom CMake module to find Eigen3.
ii  ros-humble-fastcdr                                1.0.24-2jammy.20240516.151954           amd64        CDR serialization implementation.
ii  ros-humble-fastrtps                               2.6.8-1jammy.20240516.165858            amd64        *eprosima Fast DDS* (formerly Fast RTPS) is a C++ implementation of the DDS (Data Distribution Service) standard of the OMG (Object Management Group).
ii  ros-humble-fastrtps-cmake-module                  2.2.2-2jammy.20240516.164515            amd64        Provide CMake module to find eProsima FastRTPS.
ii  ros-humble-foonathan-memory-vendor                1.2.0-3jammy.20240516.165601            amd64        Foonathan/memory vendor package for Fast-RTPS.
ii  ros-humble-geometry-msgs                          4.2.4-1jammy.20240523.210056            amd64        A package containing some geometry related message definitions.
ii  ros-humble-gmock-vendor                           1.10.9004-4jammy.20240516.162200        amd64        The package provides GoogleMock.
ii  ros-humble-gtest-vendor                           1.10.9004-4jammy.20240516.152040        amd64        The package provides GoogleTest.
ii  ros-humble-ignition-cmake2-vendor                 0.0.2-2jammy.20240516.165604            amd64        This package provides the Ignition CMake 2.x library.
ii  ros-humble-ignition-math6-vendor                  0.0.2-2jammy.20240516.165728            amd64        This package provides the Ignition Math 6.x library.
ii  ros-humble-image-transport                        3.1.9-1jammy.20240523.233952            amd64        image_transport should always be used to subscribe to and publish images.
ii  ros-humble-interactive-markers                    2.3.2-2jammy.20240530.085647            amd64        3D interactive marker communication library for RViz and similar tools.
ii  ros-humble-laser-geometry                         2.4.0-2jammy.20240530.090207            amd64        This package contains a class for converting from a 2D laser scan as defined by sensor_msgs/LaserScan into a point cloud as defined by sensor_msgs/PointCloud or sensor_msgs/PointCloud2.
ii  ros-humble-libcurl-vendor                         3.1.2-1jammy.20240516.163749            amd64        Wrapper around libcurl, it provides a fixed CMake module and an ExternalProject build of it.
ii  ros-humble-libstatistics-collector                1.3.1-1jammy.20240523.210347            amd64        Lightweight aggregation utilities to collect statistics and measure message metrics.
ii  ros-humble-libyaml-vendor                         1.2.2-2jammy.20240517.151739            amd64        Vendored version of libyaml.
ii  ros-humble-lifecycle-msgs                         1.2.1-1jammy.20240517.155411            amd64        A package containing some lifecycle related message and service definitions.
ii  ros-humble-map-msgs                               2.1.0-3jammy.20240523.213225            amd64        This package defines messages commonly used in mapping packages.
ii  ros-humble-message-filters                        4.3.4-1jammy.20240523.233155            amd64        A set of ROS2 message filters which take in messages and may output those messages at a later time, based on the conditions that filter needs met.
ii  ros-humble-nav-msgs                               4.2.4-1jammy.20240523.210906            amd64        A package containing some navigation related message and service definitions.
ii  ros-humble-ompl                                   1.6.0-1jammy.20240516.152159            amd64        OMPL is a free sampling-based motion planning library.
ii  ros-humble-orocos-kdl-vendor                      0.2.5-1jammy.20240516.164842            amd64        Wrapper around orocos_kdl, providing nothing but a dependency on orocos_kdl on some systems.
ii  ros-humble-pluginlib                              5.1.0-3jammy.20240517.151943            amd64        The pluginlib package provides tools for writing and dynamically loading plugins using the ROS build infrastructure.
ii  ros-humble-python-cmake-module                    0.10.0-2jammy.20240516.165026           amd64        Provide CMake module with extra functionality for Python.
ii  ros-humble-rcl                                    5.3.8-1jammy.20240517.170019            amd64        The ROS client library common implementation.
ii  ros-humble-rcl-action                             5.3.8-1jammy.20240517.172132            amd64        Package containing a C-based ROS action implementation
ii  ros-humble-rcl-interfaces                         1.2.1-1jammy.20240517.155615            amd64        The ROS client library common interfaces.
ii  ros-humble-rcl-lifecycle                          5.3.8-1jammy.20240517.171355            amd64        Package containing a C-based lifecycle implementation
ii  ros-humble-rcl-logging-interface                  2.3.1-1jammy.20240517.151954            amd64        Interface that rcl_logging backends needs to implement.
ii  ros-humble-rcl-logging-spdlog                     2.3.1-1jammy.20240517.152124            amd64        Implementation of rcl_logging API for an spdlog backend.
ii  ros-humble-rcl-yaml-param-parser                  5.3.8-1jammy.20240517.152852            amd64        Parse a YAML parameter file and populate the C data structure.
ii  ros-humble-rclcpp                                 16.0.9-1jammy.20240523.221855           amd64        The ROS client library in C++.
ii  ros-humble-rclcpp-action                          16.0.9-1jammy.20240523.232446           amd64        Adds action APIs for C++.
ii  ros-humble-rclcpp-components                      16.0.9-1jammy.20240523.230542           amd64        Package containing tools for dynamically loadable components
ii  ros-humble-rclpy                                  3.3.13-1jammy.20240517.172733           amd64        Package containing the Python client.
ii  ros-humble-rcpputils                              2.4.3-1jammy.20240517.151318            amd64        Package containing utility code for C++.
ii  ros-humble-rcutils                                5.1.6-1jammy.20240517.150747            amd64        Package containing various utility types and functions for C
ii  ros-humble-resource-retriever                     3.1.2-1jammy.20240516.165058            amd64        This package retrieves data from url-format files such as http://, ftp://, package:// file://, etc., and loads the data into memory.
ii  ros-humble-rmw                                    6.1.2-1jammy.20240517.152310            amd64        Contains the ROS middleware API.
ii  ros-humble-rmw-dds-common                         1.6.0-2jammy.20240517.155232            amd64        Define a common interface between DDS implementations of ROS middleware.
ii  ros-humble-rmw-fastrtps-cpp                       6.2.6-1jammy.20240517.161150            amd64        Implement the ROS middleware interface using eProsima FastRTPS static code generation in C++.
ii  ros-humble-rmw-fastrtps-shared-cpp                6.2.6-1jammy.20240517.155600            amd64        Code shared on static and dynamic type support of rmw_fastrtps_cpp.
ii  ros-humble-rmw-implementation                     2.8.3-1jammy.20240517.162334            amd64        Proxy implementation of the ROS 2 Middleware Interface.
ii  ros-humble-rmw-implementation-cmake               6.1.2-1jammy.20240516.165035            amd64        CMake functions which can discover and enumerate available implementations.
ii  ros-humble-ros-workspace                          1.0.2-2jammy.20240516.151000            amd64        Provides the prefix level environment files for ROS 2 packages.
ii  ros-humble-rosgraph-msgs                          1.2.1-1jammy.20240517.155746            amd64        Messages relating to the ROS Computation Graph.
ii  ros-humble-rosidl-adapter                         3.1.5-2jammy.20240516.171459            amd64        API and scripts to parse .msg/.srv/.action files and convert them to .idl.
ii  ros-humble-rosidl-cli                             3.1.5-2jammy.20240516.162741            amd64        Command line tools for ROS interface generation.
ii  ros-humble-rosidl-cmake                           3.1.5-2jammy.20240516.172246            amd64        The CMake functionality to invoke code generation for ROS interface files.
ii  ros-humble-rosidl-default-runtime                 1.2.0-2jammy.20240517.154258            amd64        A configuration package defining the runtime for the ROS interfaces.
ii  ros-humble-rosidl-generator-c                     3.1.5-2jammy.20240517.151827            amd64        Generate the ROS interfaces in C.
ii  ros-humble-rosidl-generator-cpp                   3.1.5-2jammy.20240517.152205            amd64        Generate the ROS interfaces in C++.
ii  ros-humble-rosidl-generator-py                    0.14.4-1jammy.20240517.153919           amd64        Generate the ROS interfaces in Python.
ii  ros-humble-rosidl-parser                          3.1.5-2jammy.20240516.171748            amd64        The parser for `.idl` ROS interface files.
ii  ros-humble-rosidl-runtime-c                       3.1.5-2jammy.20240517.151432            amd64        Provides definitions, initialization and finalization functions, and macros for getting and working with rosidl typesupport types in C.
ii  ros-humble-rosidl-runtime-cpp                     3.1.5-2jammy.20240517.151718            amd64        Provides definitions and templated functions for getting and working with rosidl typesupport types in C++.
ii  ros-humble-rosidl-typesupport-c                   2.0.1-1jammy.20240517.152048            amd64        Generate the type support for C messages.
ii  ros-humble-rosidl-typesupport-cpp                 2.0.1-1jammy.20240517.152252            amd64        Generate the type support for C++ messages.
ii  ros-humble-rosidl-typesupport-fastrtps-c          2.2.2-2jammy.20240517.153033            amd64        Generate the C interfaces for eProsima FastRTPS.
ii  ros-humble-rosidl-typesupport-fastrtps-cpp        2.2.2-2jammy.20240517.152827            amd64        Generate the C++ interfaces for eProsima FastRTPS.
ii  ros-humble-rosidl-typesupport-interface           3.1.5-2jammy.20240516.165134            amd64        The interface for rosidl typesupport packages.
ii  ros-humble-rosidl-typesupport-introspection-c     3.1.5-2jammy.20240517.151843            amd64        Generate the message type support for dynamic message construction in C.
ii  ros-humble-rosidl-typesupport-introspection-cpp   3.1.5-2jammy.20240517.152048            amd64        Generate the message type support for dynamic message construction in C++.
ii  ros-humble-rpyutils                               0.2.1-2jammy.20240516.163437            amd64        Package containing various utility types and functions for Python
ii  ros-humble-rviz-assimp-vendor                     11.2.12-1jammy.20240516.164130          amd64        Wrapper around assimp, providing nothing but a dependency on assimp, on some systems.
ii  ros-humble-rviz-common                            11.2.12-1jammy.20240530.085544          amd64        Common rviz API, used by rviz plugins and applications.
ii  ros-humble-rviz-default-plugins                   11.2.12-1jammy.20240530.095846          amd64        Several default plugins for rviz to cover the basic functionality.
ii  ros-humble-rviz-ogre-vendor                       11.2.12-1jammy.20240516.164140          amd64        Wrapper around ogre3d, it provides a fixed CMake module and an ExternalProject build of ogre.
ii  ros-humble-rviz-rendering                         11.2.12-1jammy.20240516.172646          amd64        Library which provides the 3D rendering functionality in rviz.
ii  ros-humble-rviz2                                  11.2.12-1jammy.20240530.113300          amd64        3D visualization tool for ROS.
ii  ros-humble-sensor-msgs                            4.2.4-1jammy.20240523.211003            amd64        A package containing some sensor data related message and service definitions.
ii  ros-humble-sensor-msgs-py                         4.2.4-1jammy.20240523.211643            amd64        A package for easy creation and reading of PointCloud2 messages in Python.
ii  ros-humble-spdlog-vendor                          1.3.1-1jammy.20240516.165419            amd64        Wrapper around spdlog, providing nothing but a dependency on spdlog, on some systems.
ii  ros-humble-statistics-msgs                        1.2.1-1jammy.20240517.155757            amd64        Message definitions for reporting statistics for topics and system resources.
ii  ros-humble-std-msgs                               4.2.4-1jammy.20240523.205350            amd64        A package containing some standard message definitions.
ii  ros-humble-tf2                                    0.25.7-1jammy.20240530.053902           amd64        tf2 is the second generation of the transform library, which lets the user keep track of multiple coordinate frames over time.
ii  ros-humble-tf2-geometry-msgs                      0.25.7-1jammy.20240530.082651           amd64        tf2_geometry_msgs
ii  ros-humble-tf2-msgs                               0.25.7-1jammy.20240530.053856           amd64        tf2_msgs
ii  ros-humble-tf2-py                                 0.25.7-1jammy.20240530.081843           amd64        The tf2_py package
ii  ros-humble-tf2-ros                                0.25.7-1jammy.20240530.081730           amd64        This package contains the C++ ROS bindings for the tf2 library
ii  ros-humble-tf2-ros-py                             0.25.7-1jammy.20240530.082125           amd64        This package contains the ROS Python bindings for the tf2 library
ii  ros-humble-tinyxml-vendor                         0.8.3-2jammy.20240516.153138            amd64        CMake shim over the tinxml library.
ii  ros-humble-tinyxml2-vendor                        0.7.6-1jammy.20240516.153130            amd64        Wrapper around tinyxml2, providing nothing but a dependency on tinyxml2, on some systems.
ii  ros-humble-tracetools                             4.1.1-1jammy.20240516.164535            amd64        Tracing wrapper for ROS 2.
ii  ros-humble-unique-identifier-msgs                 2.2.1-3jammy.20240517.155511            amd64        ROS messages for universally unique identifiers.
ii  ros-humble-urdf                                   2.6.0-2jammy.20240517.152202            amd64        This package contains a C++ parser for the Unified Robot Description Format (URDF), which is an XML format for representing a robot model.
ii  ros-humble-urdf-parser-plugin                     2.6.0-2jammy.20240516.164616            amd64        This package contains a C++ base class for URDF parsers.
ii  ros-humble-urdfdom                                3.0.2-2jammy.20240516.164835            amd64        A library to access URDFs using the DOM model.
ii  ros-humble-urdfdom-headers                        1.0.6-2jammy.20240516.151704            amd64        C++ headers for URDF.
ii  ros-humble-visualization-msgs                     4.2.4-1jammy.20240523.211717            amd64        A package containing some visualization and interaction related message definitions.
ii  ros-humble-yaml-cpp-vendor                        8.0.2-1jammy.20240516.153247            amd64        Wrapper around yaml-cpp, it provides a fixed CMake module and an ExternalProject build of it.

# Set up the entrypoint
COPY ./entrypoint.sh /
ENTRYPOINT ["/entrypoint.sh"]
Expand Down

0 comments on commit cf479a7

Please sign in to comment.