Base image docker image and nightly CI to push, temporarily running on push

.github/docker/nexus-base/Dockerfile

@@ -0,0 +1,22 @@
+ARG ROS_DISTRO=jazzy
+FROM docker.io/ros:$ROS_DISTRO-ros-base
+ARG NEXUS_BRANCH=main
+
+RUN apt update && apt install -y git curl libclang-dev clang clang-tools lld
+
+RUN mkdir -p /ws_nexus_base/src && cd /ws_nexus_base \
+  && curl --output abb.repos https://raw.githubusercontent.com/osrf/nexus/refs/heads/$NEXUS_BRANCH/abb.repos \
+  && vcs import /ws_nexus_base/src < abb.repos \
+  && curl --output rmf.repos https://raw.githubusercontent.com/osrf/nexus/refs/heads/$NEXUS_BRANCH/rmf.repos \
+  && vcs import /ws_nexus_base/src < rmf.repos
+
+RUN rosdep update && rosdep install --ignore-src --from-paths /ws_nexus_base/src -yir
+
+RUN cd /ws_nexus_base \
+  && . /opt/ros/$ROS_DISTRO/setup.sh \
+  && colcon build --merge-install --install-base /opt/nexus_base --cmake-args -DCMAKE_BUILD_TYPE=Release \
+  && rm -rf /ws_nexus_base
+
+RUN rm -rf \
+  /var/lib/apt/lists \
+  /dist

.github/workflows/nexus_integration_tests.yaml

@@ -11,23 +11,16 @@ jobs:
     runs-on: ubuntu-latest
     strategy:
       matrix:
-        docker_image: ['ros:jazzy-ros-base']
+        docker_image: ['ghcr.io/osrf/nexus/nexus-base:jazzy-latest']
     container:
       image: ${{ matrix.docker_image }}
     timeout-minutes: 60
     steps:
-    - name: Install deps for Rust
-      run: |
-        apt update && apt install -y git curl libclang-dev
     - uses: actions/checkout@v2
     - uses: actions/cache@v3
       with:
         path: ~/.cache/ccache
         key: ccache
-    - name: vcs
-      run: |
-        vcs import . < abb.repos
-        vcs import . < rmf.repos
     - name: rosdep
       run: |
         apt update
@@ -37,8 +30,9 @@ jobs:
         rosdep update
         rosdep install --from-paths . -yir
     - name: build
-      run: /ros_entrypoint.sh colcon build --packages-up-to nexus_calibration nexus_gazebo nexus_integration_tests nexus_motion_planner --mixin release lld --cmake-args -DCMAKE_CXX_COMPILER_LAUNCHER=ccache
+      run: |
+        . /opt/nexus_base/setup.bash && colcon build --packages-up-to nexus_calibration nexus_gazebo nexus_integration_tests nexus_motion_planner --mixin release lld --cmake-args -DCMAKE_CXX_COMPILER_LAUNCHER=ccache
     - name: Test - Unit Tests
-      run: . ./install/setup.bash && RMW_IMPLEMENTATION=rmw_cyclonedds_cpp /ros_entrypoint.sh colcon test --packages-select nexus_motion_planner --event-handlers=console_direct+
+      run: . ./install/setup.bash && RMW_IMPLEMENTATION=rmw_cyclonedds_cpp colcon test --packages-select nexus_motion_planner --event-handlers=console_direct+
     - name: Test - Integration Test
-      run: . ./install/setup.bash && cd nexus_integration_tests && RMW_IMPLEMENTATION=rmw_cyclonedds_cpp /ros_entrypoint.sh python3 -m unittest
+      run: . ./install/setup.bash && cd nexus_integration_tests && RMW_IMPLEMENTATION=rmw_cyclonedds_cpp python3 -m unittest

.github/workflows/nightly.yaml

@@ -0,0 +1,36 @@
+name: nightly
+
+on:
+  schedule:
+    # 2am SGT
+    - cron: '0 18 * * *'
+
+jobs:
+  build-nexus-base-image:
+    name: Push nexus base docker image to GitHub Packages
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        ros_distribution: [jazzy]
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+
+      - name: Login to docker
+        uses: docker/login-action@v3
+        with:
+          registry: ghcr.io
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Build and push nexus-base
+        uses: docker/build-push-action@v5
+        with:
+          push: true
+          build-args: |
+            ROS_DISTRO=${{ matrix.ros_distribution }}
+            NEXUS_BRANCH=base-docker-images
+          tags: ghcr.io/${{ github.repository }}/nexus-base:${{ matrix.ros_distribution }}-latest
+          context: .github/docker/nexus-base

nexus_integration_tests/launch/zenoh_bridge.launch.py

@@ -40,7 +40,7 @@ def launch_setup(context, *args, **kwargs):
 
     cmd = [
         ExecutableInPackage(
-            executable="zenoh_bridge_ros2dds",
+            executable="zenoh-bridge-ros2dds",
             package="nexus_zenoh_bridge_dds_vendor",
         ),
         "--config",

nexus_zenoh_bridge_dds_vendor/CMakeLists.txt

@@ -8,19 +8,26 @@ if(NOT CMAKE_CXX_STANDARD)
 endif()
 
 find_package(ament_cmake REQUIRED)
-find_package(ament_cmake_vendor_package REQUIRED)
 
-ament_vendor(zeno_bridge_dds_vendor
-  VCS_URL https://github.com/eclipse-zenoh/zenoh-plugin-ros2dds.git
-  VCS_VERSION 1.0.3
+set(ZENOH_VERSION "1.0.3")
+set(BINARY_URL "https://github.com/eclipse-zenoh/zenoh-plugin-ros2dds/releases/download/${ZENOH_VERSION}/zenoh-plugin-ros2dds-${ZENOH_VERSION}-x86_64-unknown-linux-gnu-standalone.zip")
+set(BINARY_DIR "${CMAKE_BINARY_DIR}/download")
+file(DOWNLOAD ${BINARY_URL} ${BINARY_DIR}/zenoh-plugin-ros2dds.zip)
+
+find_program(UNZIP_EXECUTABLE unzip)
+if(NOT UNZIP_EXECUTABLE)
+  message(FATAL_ERROR "unzip command not found. Please install it.")
+endif()
+
+execute_process(
+  COMMAND ${UNZIP_EXECUTABLE} ${BINARY_DIR}/zenoh-plugin-ros2dds.zip
+  WORKING_DIRECTORY ${BINARY_DIR}
 )
 
-# TODO(sloretz) make a nice way to get this path from ament_vendor
-set(INSTALL_DIR "${CMAKE_CURRENT_BINARY_DIR}/zeno_bridge_dds_vendor-prefix/install")
 install(
-  DIRECTORY "${INSTALL_DIR}/lib/zenoh_bridge_ros2dds/"
+  FILES ${BINARY_DIR}/zenoh-bridge-ros2dds
   DESTINATION "lib/${PROJECT_NAME}"
-  USE_SOURCE_PERMISSIONS
+  PERMISSIONS OWNER_EXECUTE
 )
 
 ament_package()

nexus_zenoh_bridge_dds_vendor/package.xml

@@ -8,7 +8,6 @@
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
-  <buildtool_depend>ament_cmake_vendor_package</buildtool_depend>
 
   <build_depend>cargo</build_depend>
   <build_depend>clang</build_depend>