From 12489b3fbed5da68f71809888f3be96dd57c4d45 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Mon, 3 Jun 2024 20:07:47 -0700
Subject: [PATCH] Enabled jazzy-latest docker

---
 .github/workflows/docker-ros2.yml | 12 +++++++++++-
 .github/workflows/ros2.yml        |  5 +++--
 docker/jazzy/Dockerfile           |  7 +++++++
 docker/jazzy/latest/Dockerfile    | 20 ++++++++++++++++++++
 4 files changed, 41 insertions(+), 3 deletions(-)
 create mode 100644 docker/jazzy/Dockerfile
 create mode 100644 docker/jazzy/latest/Dockerfile

diff --git a/.github/workflows/docker-ros2.yml b/.github/workflows/docker-ros2.yml
index 270337718..60e114c36 100644
--- a/.github/workflows/docker-ros2.yml
+++ b/.github/workflows/docker-ros2.yml
@@ -11,7 +11,7 @@ jobs:
     
     strategy:
       matrix:
-        docker_tag: [humble, humble-latest, iron, iron-latest]
+        docker_tag: [humble, humble-latest, iron, iron-latest, jazzy-latest]
         include:
         - docker_tag: humble
           docker_path: 'humble'
@@ -30,6 +30,16 @@ jobs:
           docker_path: 'iron/latest'
           docker_platforms: |
             linux/amd64
+# Re-add "jazzy" after binaries are released
+#        - docker_tag: jazzy
+#          docker_path: 'jazzy'
+#          docker_platforms: |
+#            linux/amd64
+        - docker_tag: jazzy-latest
+          docker_path: 'jazzy/latest'
+          docker_platforms: |
+            linux/amd64
+            linux/arm64
     
     steps:
       -
diff --git a/.github/workflows/ros2.yml b/.github/workflows/ros2.yml
index b1a33bb0f..8b33446e8 100644
--- a/.github/workflows/ros2.yml
+++ b/.github/workflows/ros2.yml
@@ -27,8 +27,9 @@ jobs:
           ubuntu_distro: 'jammy'
         - ros_distro: 'iron'
           ubuntu_distro: 'jammy'
-        - ros_distro: 'jazzy'
-          ubuntu_distro: 'noble'
+# Disabled as there still missing dependencies on jazzy:
+#        - ros_distro: 'jazzy'
+#          ubuntu_distro: 'noble'
       fail-fast: false
     container:
       image: rostooling/setup-ros-docker:ubuntu-${{ matrix.ubuntu_distro }}-ros-${{ matrix.ros_distro }}-desktop-latest
diff --git a/docker/jazzy/Dockerfile b/docker/jazzy/Dockerfile
new file mode 100644
index 000000000..2de694ec3
--- /dev/null
+++ b/docker/jazzy/Dockerfile
@@ -0,0 +1,7 @@
+FROM osrf/ros:jazzy-desktop
+# install rtabmap packages
+ARG CACHE_DATE=2016-01-01
+RUN apt-get update && apt-get install -y \
+    ros-jazzy-rtabmap \
+    ros-jazzy-rtabmap-ros \
+    && rm -rf /var/lib/apt/lists/
diff --git a/docker/jazzy/latest/Dockerfile b/docker/jazzy/latest/Dockerfile
new file mode 100644
index 000000000..090429415
--- /dev/null
+++ b/docker/jazzy/latest/Dockerfile
@@ -0,0 +1,20 @@
+FROM introlab3it/rtabmap:24.04
+
+RUN source /ros_entrypoint.sh && \
+    mkdir -p ros2_ws/src && \
+    cd ros2_ws/src
+
+COPY . ros2_ws/src/rtabmap_ros
+
+RUN source /ros_entrypoint.sh && \
+    cd ros2_ws && \
+    export MAKEFLAGS="-j1" && \
+    rosdep init && \
+    rosdep update && \
+    apt-get update && \
+    rosdep install --from-paths src --ignore-src -r -y -t build_export -t test -t build -t buildtool_export -t buildtool --skip-keys="nav2_bringup realsense2_camera nav2_msgs grid_map_ros" && \
+    apt remove ros-$ROS_DISTRO-rtabmap* -y && \
+    apt-get clean && rm -rf /var/lib/apt/lists/ && \
+    colcon build --event-handlers console_direct+ --install-base /opt/ros/$ROS_DISTRO --merge-install --cmake-args -DRTABMAP_SYNC_MULTI_RGBD=ON -DCMAKE_BUILD_TYPE=Release && \
+    cd && \
+    rm -rf ros2_ws