Update docker image to humble

[koonpeng]

Update docker image to humble

[youliangtan]

Thanks for updating the docker build process and migrating it to humble. 2 questions straight out of my mind:

1. Should we still retain the 20.04+galactic CI? And should we tag the latest main as a release for galactic before upgrade it to humble?
2. it seems like now the docker build process will utilizermf_deployment_template build/rmf branch's img as the base img. I am just thinking about the maintenance of multiple repositories. 🤔

[koonpeng]

Should we still retain the 20.04+galactic CI? And should we tag the latest main as a release for galactic before upgrade it to humble?

I think managing multiple releases is a good idea if we want to continue supporting galactic.

it seems like now the docker build process will utilizermf_deployment_template build/rmf branch's img as the base img. I am just thinking about the maintenance of multiple repositories. thinking

That's a great question, I would like to reduce duplication as well, which is why I reuse the image from the deployment example. A problem with the example images now is that it builds all of rmf in a single image and each component just have a different entry point. I think it will be a good idea to have a universal builder image that can be used by all other rmf repos and have each component build only the packages it needs. The question though is if we should spread all the dockerfile to each repos or consolidate them all in one repo 🤔 .

[youliangtan]

I agree that it is a good idea to use a common dockerfile across multiple rmf project. I have updated the dockerfiles in rmf_deployment_template with the support of different ROS_DISTRO. Hopefully, open-rmf/rmf_deployment_template#5 addresses this.

[youliangtan]

Currently we have a similar CI here.

We can indicate the img's ros distro with either ROS_DISTRO=galactic or ROS_DISTRO=humble

      -
        name: Build builder-rosdep
        uses: docker/build-push-action@v3
        with:
          context: .
          file: rmf-dockerfiles/rmf/builder-rosdep.Dockerfile
          build-args: |
            BASE_REGISTRY=${{ env.base_registry }}
            ROS_DISTRO=galactic
          push: true
          tags: ${{ env.builder_ns }}/builder-rosdep:latest

Maybe just update the CI here to utilize the dockerfiles in rmf_deployment_template?

[Yadunund]

@koonpeng any blockers for this?

I've opened #202 to update the galactic branch so that it will continue to build packages for galactic. I think it will be good to have this merged so that main builds with humble.

[koonpeng]

Yeah, open-rmf/rmf_traffic_editor#439 is blocking

[luca-della-vedova]

Wondering if we should keep the .repos file here or use the ones in the deployment repo, for example for simulation and main rmf.
From what I understand they are going to be the same, so we can avoid maintaining them in both repos?
Removing them would reduce duplication but would cause quite some trouble since all downstream actions would have to change the url of their vcs file, so I can see arguments both ways

[koonpeng]

I think the repos file should not be the same. These repos file here tracks the branch which makes it very problematic for reproducible builds and deployments. That does mean we will have to maintain multiple copies of each repos file 😞 .

[luca-della-vedova]

If we are going for a split of rmf.repos into deployment and simulation files we should probably remove rmf_simulation, menge_vendor and rmf_demos from this file.

[luca-della-vedova]

Once it is finalized (i.e. this is merged) we should probably update this to the Gazebo renaming (ign -> gz and gz -> gz_classic)

[luca-della-vedova]

Nit, for galatic -> for humble