feat: Enable Gazebo on arm64 Jazzy/Rolling (#194)

Tiryoh · Dec 29, 2024 · cf20c4c · cf20c4c
1 parent 1caa136
commit cf20c4c
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Showing 4 changed files with 28 additions and 32 deletions.
diff --git a/jazzy/Dockerfile b/jazzy/Dockerfile
@@ -114,16 +114,11 @@ RUN apt-get update -q && \
 
 RUN rosdep update
 
-# Install simulation packages are
-# not ready for amd64/arm64 for now (May 27th, 2024)
-# https://repo.ros2.org/status_page/jazzy_default.html?q=RED
-# RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then \
-#     apt-get update -q && \
-#     apt-get install -y \
-#     ros-${ROS_DISTRO}-gazebo-ros-pkgs \
-#     ros-${ROS_DISTRO}-ros-gz && \
-#     rm -rf /var/lib/apt/lists/*; \
-#     fi
+# Install simulation packages
+RUN apt-get update -q && \
+    apt-get install -y \
+    ros-${ROS_DISTRO}-ros-gz && \
+    rm -rf /var/lib/apt/lists/*
 
 # Enable apt-get completion after running `apt-get update` in the container
 RUN rm /etc/apt/apt.conf.d/docker-clean

diff --git a/jazzy/entrypoint.sh b/jazzy/entrypoint.sh
@@ -349,13 +349,17 @@ Icon=vscodium
 EOF
 chown -R "$USER:$USER" "$HOME/Desktop"
 
-# clearup
-PASSWORD=
-VNC_PASSWORD=
-
 echo "============================================================================================"
-echo "NOTE 1: --security-opt seccomp=unconfined flag is required to launch Ubuntu Jammy based image."
+echo "Launched docker container."
+echo -e 'Open \e]8;;http://127.0.0.1:6080\e\\http://127.0.0.1:6080\e]8;;\e\\ via web browser.'
+echo ""
+echo "NOTE 1: Default user is \"$USER\", password is \"$PASSWORD\"."
+echo "NOTE 2: --security-opt seccomp=unconfined flag is required to launch Ubuntu Jammy/Noble based image on some environment."
 echo -e 'See \e]8;;https://github.com/Tiryoh/docker-ros2-desktop-vnc/pull/56\e\\https://github.com/Tiryoh/docker-ros2-desktop-vnc/pull/56\e]8;;\e\\'
 echo "============================================================================================"
 
+# clearup
+PASSWORD=
+VNC_PASSWORD=
+
 exec /bin/tini -- supervisord -n -c /etc/supervisor/supervisord.conf
diff --git a/rolling/Dockerfile b/rolling/Dockerfile
@@ -114,16 +114,11 @@ RUN apt-get update -q && \
 
 RUN rosdep update
 
-# Install simulation packages are
-# not ready for amd64/arm64 for now (May 24th, 2023)
-# https://repo.ros2.org/status_page/rolling_default.html?q=RED
-# RUN if [ "$TARGETPLATFORM" = "linux/amd64" ]; then \
-#     apt-get update -q && \
-#     apt-get install -y \
-#     ros-${ROS_DISTRO}-gazebo-ros-pkgs \
-#     ros-${ROS_DISTRO}-ros-gz && \
-#     rm -rf /var/lib/apt/lists/*; \
-#     fi
+# Install simulation packages
+RUN apt-get update -q && \
+    apt-get install -y \
+    ros-${ROS_DISTRO}-ros-gz && \
+    rm -rf /var/lib/apt/lists/*
 
 # Enable apt-get completion after running `apt-get update` in the container
 RUN rm /etc/apt/apt.conf.d/docker-clean

diff --git a/rolling/entrypoint.sh b/rolling/entrypoint.sh
@@ -338,15 +338,17 @@ Icon=vscodium
 EOF
 chown -R "$USER:$USER" "$HOME/Desktop"
 
-# clearup
-PASSWORD=
-VNC_PASSWORD=
-
 echo "============================================================================================"
-echo "NOTE 1: --security-opt seccomp=unconfined flag is required to launch Ubuntu Jammy based image."
+echo "Launched docker container."
+echo -e 'Open \e]8;;http://127.0.0.1:6080\e\\http://127.0.0.1:6080\e]8;;\e\\ via web browser.'
+echo ""
+echo "NOTE 1: Default user is \"$USER\", password is \"$PASSWORD\"."
+echo "NOTE 2: --security-opt seccomp=unconfined flag is required to launch Ubuntu Jammy/Noble based image on some environment."
 echo -e 'See \e]8;;https://github.com/Tiryoh/docker-ros2-desktop-vnc/pull/56\e\\https://github.com/Tiryoh/docker-ros2-desktop-vnc/pull/56\e]8;;\e\\'
-echo "NOTE 2: Before stopping to commit docker container to new docker image, log out first."
-echo -e 'See \e]8;;https://github.com/Tiryoh/docker-ros2-desktop-vnc/issue/131\e\\https://github.com/Tiryoh/docker-ros2-desktop-vnc/issue/131\e]8;;\e\\'
 echo "============================================================================================"
 
+# clearup
+PASSWORD=
+VNC_PASSWORD=
+
 exec /bin/tini -- supervisord -n -c /etc/supervisor/supervisord.conf