fix(packaging): improve Docker package build compatibility

Makefile

@@ -1093,7 +1093,11 @@ package-plugins:
 # package-all: Build all packages in Docker (core + plugins for all distros)
 .PHONY: package-all
 package-all:
-	@bash $(PACKAGE_DIR)/scripts/build-all-in-docker-parallel.sh
+	@if [ "$$(uname -s)" = "Darwin" ]; then \
+		$(PACKAGE_DIR)/scripts/build-in-docker.sh all; \
+	else \
+		bash $(PACKAGE_DIR)/scripts/build-all-in-docker-parallel.sh; \
+	fi
 
 # package-clean: Clean package build artifacts
 .PHONY: package-clean

apps/axon_agent/CMakeLists.txt

@@ -89,7 +89,11 @@ target_compile_options(axon_agent PRIVATE -Wall -Wextra -Wpedantic)
 set_target_properties(axon_agent PROPERTIES OUTPUT_NAME "axon-agent")
 
 install(TARGETS axon_agent RUNTIME DESTINATION bin)
-install(DIRECTORY examples/robots DESTINATION share/axon_agent/examples)
+install(
+    DIRECTORY examples/robots
+    DESTINATION share/axon_agent/examples
+    PATTERN "*.so" EXCLUDE
+)
 install(
     DIRECTORY ${AXON_ROBOT_ADAPTER_INTERFACE_DIR}/include
     DESTINATION share/axon_agent/plugin_interface/robot_adapter

docker/Dockerfile.package-ros1

@@ -18,9 +18,20 @@ COPY docker/scripts/setup-apt-mirror.sh /usr/local/bin/setup-apt-mirror.sh
 RUN chmod +x /usr/local/bin/setup-apt-mirror.sh && \
     /usr/local/bin/setup-apt-mirror.sh "${AXON_APT_MIRROR}"
 
-# Add Ubuntu 20.04 backports for debhelper 13
+# Add Ubuntu 20.04 backports for debhelper 13. Ubuntu arm64 packages live on ports.
 RUN ubuntu_mirror="$(cat /etc/apt/axon-ubuntu-mirror-url)" && \
-    echo "deb ${ubuntu_mirror} focal-backports main restricted universe multiverse" > /etc/apt/sources.list.d/backports.list
+    case "$(dpkg --print-architecture)" in \
+        amd64|i386) backports_mirror="${ubuntu_mirror}" ;; \
+        *) \
+            if [ "${ubuntu_mirror}" = "http://archive.ubuntu.com/ubuntu" ]; then \
+                backports_mirror="http://ports.ubuntu.com/ubuntu-ports"; \
+            elif echo "${ubuntu_mirror}" | grep -Eq '(-ports|/ubuntu-ports)$'; then \
+                backports_mirror="${ubuntu_mirror}"; \
+            else \
+                backports_mirror="${ubuntu_mirror}-ports"; \
+            fi ;; \
+    esac && \
+    echo "deb ${backports_mirror} focal-backports main restricted universe multiverse" > /etc/apt/sources.list.d/backports.list
 
 # Install Debian packaging tools (from backports for debhelper 13)
 RUN apt-get update && apt-get install -y \

docker/Dockerfile.package-standalone-focal

@@ -39,9 +39,20 @@ RUN apt-get update && apt-get install -y \
     vim-common \
     && rm -rf /var/lib/apt/lists/*
 
-# Enable focal-backports for debhelper 13
+# Enable focal-backports for debhelper 13. Ubuntu arm64 packages live on ports.
 RUN ubuntu_mirror="$(cat /etc/apt/axon-ubuntu-mirror-url)" && \
-    add-apt-repository -y "deb ${ubuntu_mirror} focal-backports main universe" && \
+    case "$(dpkg --print-architecture)" in \
+        amd64|i386) backports_mirror="${ubuntu_mirror}" ;; \
+        *) \
+            if [ "${ubuntu_mirror}" = "http://archive.ubuntu.com/ubuntu" ]; then \
+                backports_mirror="http://ports.ubuntu.com/ubuntu-ports"; \
+            elif echo "${ubuntu_mirror}" | grep -Eq '(-ports|/ubuntu-ports)$'; then \
+                backports_mirror="${ubuntu_mirror}"; \
+            else \
+                backports_mirror="${ubuntu_mirror}-ports"; \
+            fi ;; \
+    esac && \
+    add-apt-repository -y "deb ${backports_mirror} focal-backports main universe" && \
     apt-get update && \
     apt-get install -y -t focal-backports debhelper && \
     rm -rf /var/lib/apt/lists/*

docker/scripts/setup-apt-mirror.sh

@@ -7,6 +7,7 @@ set -eu
 mirror="${1:-default}"
 default_mirror="http://archive.ubuntu.com/ubuntu"
 ubuntu_mirror="$default_mirror"
+ubuntu_ports_mirror="http://ports.ubuntu.com/ubuntu-ports"
 ros1_mirror="http://packages.ros.org/ros/ubuntu"
 ros2_mirror="http://packages.ros.org/ros2/ubuntu"
 strip_ros_sources=0
@@ -29,8 +30,23 @@ case "$mirror" in
         ;;
 esac
 
+if [ "$ubuntu_mirror" = "$default_mirror" ]; then
+    ubuntu_ports_mirror="http://ports.ubuntu.com/ubuntu-ports"
+else
+    case "$ubuntu_mirror" in
+        *-ports|*/ubuntu-ports) ubuntu_ports_mirror="$ubuntu_mirror" ;;
+        *) ubuntu_ports_mirror="${ubuntu_mirror}-ports" ;;
+    esac
+fi
+
 mkdir -p /etc/apt
 printf "%s\n" "$ubuntu_mirror" > /etc/apt/axon-ubuntu-mirror-url
+mkdir -p /etc/apt/apt.conf.d
+cat > /etc/apt/apt.conf.d/80axon-retries <<EOF
+Acquire::Retries "5";
+Acquire::http::Timeout "60";
+Acquire::https::Timeout "60";
+EOF
 
 if [ "$ubuntu_mirror" = "$default_mirror" ]; then
     echo "Using default Ubuntu apt mirror."
@@ -48,8 +64,8 @@ rewrite_file() {
         -e "s|https://archive.ubuntu.com/ubuntu/|${ubuntu_mirror}/|g" \
         -e "s|http://security.ubuntu.com/ubuntu/|${ubuntu_mirror}/|g" \
         -e "s|https://security.ubuntu.com/ubuntu/|${ubuntu_mirror}/|g" \
-        -e "s|http://ports.ubuntu.com/ubuntu-ports/|${ubuntu_mirror}-ports/|g" \
-        -e "s|https://ports.ubuntu.com/ubuntu-ports/|${ubuntu_mirror}-ports/|g" \
+        -e "s|http://ports.ubuntu.com/ubuntu-ports/|${ubuntu_ports_mirror}/|g" \
+        -e "s|https://ports.ubuntu.com/ubuntu-ports/|${ubuntu_ports_mirror}/|g" \
         -e "s|http://packages.ros.org/ros/ubuntu/|${ros1_mirror}/|g" \
         -e "s|https://packages.ros.org/ros/ubuntu/|${ros1_mirror}/|g" \
         -e "s|http://packages.ros.org/ros2/ubuntu/|${ros2_mirror}/|g" \
@@ -58,8 +74,8 @@ rewrite_file() {
         -e "s|https://archive.ubuntu.com/ubuntu|${ubuntu_mirror}|g" \
         -e "s|http://security.ubuntu.com/ubuntu|${ubuntu_mirror}|g" \
         -e "s|https://security.ubuntu.com/ubuntu|${ubuntu_mirror}|g" \
-        -e "s|http://ports.ubuntu.com/ubuntu-ports|${ubuntu_mirror}-ports|g" \
-        -e "s|https://ports.ubuntu.com/ubuntu-ports|${ubuntu_mirror}-ports|g" \
+        -e "s|http://ports.ubuntu.com/ubuntu-ports|${ubuntu_ports_mirror}|g" \
+        -e "s|https://ports.ubuntu.com/ubuntu-ports|${ubuntu_ports_mirror}|g" \
         -e "s|http://packages.ros.org/ros/ubuntu|${ros1_mirror}|g" \
         -e "s|https://packages.ros.org/ros/ubuntu|${ros1_mirror}|g" \
         -e "s|http://packages.ros.org/ros2/ubuntu|${ros2_mirror}|g" \

packaging/deb/scripts/build-all-in-docker-parallel.sh

@@ -71,9 +71,28 @@ docker_info_proxy_field() {
     printf "%s" "$value"
 }
 
+use_docker_info_proxy_fallback() {
+    local mode="${AXON_PACKAGE_USE_DOCKER_INFO_PROXY:-auto}"
+    local host_os=""
+
+    case "$mode" in
+        1|true|TRUE|yes|YES|on|ON) return 0 ;;
+        0|false|FALSE|no|NO|off|OFF) return 1 ;;
+    esac
+
+    host_os="$(uname -s 2>/dev/null || true)"
+    [ "$host_os" != "Darwin" ]
+}
+
 proxy_for_container() {
     local proxy="$1"
 
+    if [ -n "$proxy" ]; then
+        case "$proxy" in
+            *://*) ;;
+            *) proxy="http://${proxy}" ;;
+        esac
+    fi
     proxy="${proxy//\/\/127.0.0.1/\/\/host.docker.internal}"
     proxy="${proxy//\/\/localhost/\/\/host.docker.internal}"
     proxy="${proxy//\/\/\[::1\]/\/\/host.docker.internal}"
@@ -133,7 +152,7 @@ configure_package_proxy_env() {
     host_all_proxy="$(first_non_empty_env ALL_PROXY all_proxy ALLPROXY || true)"
     host_no_proxy="$(first_non_empty_env NO_PROXY no_proxy NOPROXY || true)"
 
-    if [ -z "$host_http_proxy" ] && [ -z "$host_https_proxy" ] && [ -z "$host_all_proxy" ]; then
+    if [ -z "$host_http_proxy" ] && [ -z "$host_https_proxy" ] && [ -z "$host_all_proxy" ] && use_docker_info_proxy_fallback; then
         host_http_proxy="$(docker_info_proxy_field HTTPProxy)"
         host_https_proxy="$(docker_info_proxy_field HTTPSProxy)"
         host_no_proxy="${host_no_proxy:-$(docker_info_proxy_field NoProxy)}"
@@ -229,6 +248,7 @@ latest_log_line() {
 
 print_progress_snapshot() {
     local distro=""
+    local i=0
     local state=""
     local latest=""
     local status_value=""
@@ -244,9 +264,10 @@ print_progress_snapshot() {
     printf "%-10s %-8s %s\n" "Distro" "Status" "Latest output"
     printf "%-10s %-8s %s\n" "------" "------" "-------------"
 
-    for distro in "${distros[@]}"; do
-        if [ -f "${status_files[$distro]}" ]; then
-            status_value="$(cat "${status_files[$distro]}" 2>/dev/null || echo 1)"
+    for ((i = 0; i < ${#distros[@]}; i++)); do
+        distro="${distros[$i]}"
+        if [ -f "${status_files[$i]}" ]; then
+            status_value="$(cat "${status_files[$i]}" 2>/dev/null || echo 1)"
             if [ "$status_value" -eq 0 ]; then
                 state="PASS"
             else
@@ -256,19 +277,21 @@ print_progress_snapshot() {
             state="RUNNING"
         fi
 
-        latest="$(latest_log_line "${logs[$distro]}")"
+        latest="$(latest_log_line "${logs[$i]}")"
         printf "%-10s %-8s %s\n" "$distro" "$state" "$latest"
     done
 }
 
 monitor_progress() {
     local completed=0
     local distro=""
+    local i=0
 
     while true; do
         completed=0
-        for distro in "${distros[@]}"; do
-            if [ -f "${status_files[$distro]}" ]; then
+        for ((i = 0; i < ${#distros[@]}; i++)); do
+            distro="${distros[$i]}"
+            if [ -f "${status_files[$i]}" ]; then
                 completed=$((completed + 1))
             fi
         done
@@ -293,10 +316,10 @@ configure_package_apt_mirror_env
 mkdir -p "${OUTPUT_DIR}" "${LOG_DIR}"
 
 distros=(focal jammy noble)
-declare -A pids
-declare -A logs
-declare -A status_files
-declare -A statuses
+pids=()
+logs=()
+status_files=()
+statuses=()
 
 log_section "Building all packages in Docker"
 log_info "Running Ubuntu distro builds in parallel: ${distros[*]}"
@@ -309,11 +332,12 @@ if [ "${AXON_PACKAGE_APT_MIRROR}" != "default" ] && [ "${AXON_PACKAGE_APT_MIRROR
     log_info "Using ${AXON_PACKAGE_APT_MIRROR} Ubuntu apt mirror for Docker package builds."
 fi
 
-for distro in "${distros[@]}"; do
+for ((i = 0; i < ${#distros[@]}; i++)); do
+    distro="${distros[$i]}"
     log_file="${LOG_DIR}/${distro}.log"
     status_file="${LOG_DIR}/${distro}.status"
-    logs["$distro"]="$log_file"
-    status_files["$distro"]="$status_file"
+    logs[$i]="$log_file"
+    status_files[$i]="$status_file"
     rm -f "$status_file"
     (
         echo "Log file: ${log_file}"
@@ -324,19 +348,20 @@ for distro in "${distros[@]}"; do
         echo "$status" > "$status_file"
         exit "$status"
     ) >"$log_file" 2>&1 &
-    pids["$distro"]=$!
-    log_info "Started ${distro} build (pid ${pids[$distro]}, log ${log_file})"
+    pids[$i]=$!
+    log_info "Started ${distro} build (pid ${pids[$i]}, log ${log_file})"
 done
 
 print_progress_snapshot
 monitor_progress
 
 overall_status=0
-for distro in "${distros[@]}"; do
-    if wait "${pids[$distro]}"; then
-        statuses["$distro"]=0
+for ((i = 0; i < ${#distros[@]}; i++)); do
+    distro="${distros[$i]}"
+    if wait "${pids[$i]}"; then
+        statuses[$i]=0
     else
-        statuses["$distro"]=$?
+        statuses[$i]=$?
         overall_status=1
     fi
 done
@@ -346,20 +371,21 @@ log_section "Package Build Summary"
 printf "%-10s %-8s %-10s %s\n" "Distro" "Status" "Packages" "Log"
 printf "%-10s %-8s %-10s %s\n" "------" "------" "--------" "---"
 
-for distro in "${distros[@]}"; do
+for ((i = 0; i < ${#distros[@]}; i++)); do
+    distro="${distros[$i]}"
     distro_output="${OUTPUT_DIR}/${distro}"
     package_count=0
     if [ -d "$distro_output" ]; then
         package_count="$(find "$distro_output" -maxdepth 1 -name '*.deb' -type f 2>/dev/null | wc -l | tr -d ' ')"
     fi
 
-    if [ "${statuses[$distro]}" -eq 0 ]; then
+    if [ "${statuses[$i]}" -eq 0 ]; then
         status_label="PASS"
     else
         status_label="FAIL"
     fi
 
-    printf "%-10s %-8s %-10s %s\n" "$distro" "$status_label" "$package_count" "${logs[$distro]}"
+    printf "%-10s %-8s %-10s %s\n" "$distro" "$status_label" "$package_count" "${logs[$i]}"
 done
 
 echo ""

packaging/deb/scripts/build-all.sh

@@ -65,15 +65,15 @@ fi
 for distro in humble jazzy rolling; do
     if [ -d "/opt/ros/$distro" ]; then
         eval "has_ros2_${distro}=1"
-        log_info "Detected: ROS2 ${distro^}"
+        log_info "Detected: ROS2 ${distro}"
     fi
 done
 
 if [ "$has_ros2_humble" -eq 0 ] && [ "$has_ros2_jazzy" -eq 0 ] && [ "$has_ros2_rolling" -eq 0 ]; then
     # Check via environment variables
     if [ -n "$ROS_DISTRO" ]; then
         eval "has_ros2_${ROS_DISTRO}=1"
-        log_info "Detected: ROS2 ${ROS_DISTRO^} (from environment)"
+        log_info "Detected: ROS2 ${ROS_DISTRO} (from environment)"
     fi
 fi
 
@@ -120,7 +120,7 @@ if [ -n "$ROS_DISTRO" ] || [ "$has_ros2_humble" -eq 1 ] || [ "$has_ros2_jazzy" -
 
     # Verify the distro is available
     if [ -d "/opt/ros/$active_ros_distro" ]; then
-        log_section "Building ROS2 ${active_ros_distro^} Plugin"
+        log_section "Building ROS2 ${active_ros_distro} Plugin"
 
         # Source the environment if not already sourced
         if [ -z "$ROS_DISTRO" ]; then
@@ -129,9 +129,9 @@ if [ -n "$ROS_DISTRO" ] || [ "$has_ros2_humble" -eq 1 ] || [ "$has_ros2_jazzy" -
         fi
 
         if ROS_DISTRO="$active_ros_distro" "${SCRIPT_DIR}/build-ros2.sh"; then
-            log_info "ROS2 ${active_ros_distro^} plugin built successfully"
+            log_info "ROS2 ${active_ros_distro} plugin built successfully"
         else
-            log_warn "Failed to build ROS2 ${active_ros_distro^} plugin (continuing)"
+            log_warn "Failed to build ROS2 ${active_ros_distro} plugin (continuing)"
         fi
     else
         log_warn "ROS2 ${active_ros_distro} not available, skipping ROS2 plugin"