add branch support

.github/workflows/build_container.yml

@@ -4,6 +4,8 @@ on:
   push:
     branches:
       - main
+      - fortress
+      - harmonic
 
 jobs:
   build_and_push:
@@ -25,6 +27,7 @@ jobs:
 
     - name: Build and push Docker image
       run: |
-        IMAGE_NAME=ghcr.io/${{ github.repository_owner }}/gazebo:latest
+        BRANCH_NAME=$(echo ${GITHUB_REF#refs/heads/} | sed 's/[^a-zA-Z0-9._-]/-/g')
+        IMAGE_NAME=ghcr.io/${{ github.repository_owner }}/gazebo:${BRANCH_NAME}
         docker build -t $IMAGE_NAME .
         docker push $IMAGE_NAME

docker-compose.yml

@@ -10,6 +10,6 @@ services:
     volumes:
       - /tmp/.X11-unix:/tmp/.X11-unix
       - /tmp/.Xauthority:/tmp/.Xauthority:rw
-    command: ign gazebo --headless-rendering
+    command: ros2 launch ros_gz_sim gz_sim.launch.py
     network_mode: "host"
     privileged: true

sample.env

@@ -4,4 +4,4 @@ QT_X11_NO_MITSHM=1
 XAUTHORITY=/tmp/.Xauthority
 
 # ROS2 domain to avoid conflicts with other containers
-ROS_DOMAIN_ID=0
+ROS_DOMAIN_ID=96

test.Dockerfile

@@ -0,0 +1,65 @@
+# Start from ROS Humble base image
+FROM ros:humble-ros-base
+
+# Set environment variables
+ENV ROS_DISTRO=humble
+ENV GZ_VERSION=fortress
+
+# Install necessary packages for Gazebo Garden and its dependencies
+RUN apt-get update && apt-get install -y \
+    ros-${ROS_DISTRO}-joint-state-publisher-gui \
+    ros-${ROS_DISTRO}-xacro \
+    ros-${ROS_DISTRO}-image-transport \
+    ros-${ROS_DISTRO}-vision-msgs \
+    ros-${ROS_DISTRO}-actuator-msgs \
+    software-properties-common \
+    wget \
+    lsb-release \
+    gnupg \
+    curl
+
+# Add ROS2 apt repository
+RUN sh -c 'echo "deb http://packages.ros.org/ros2/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros2-latest.list'
+RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
+RUN apt update -y
+
+# Create workspace and source directories
+RUN mkdir -p ~/workspace/src
+
+# Import the collection of repositories including Gazebo
+RUN cd ~/workspace/src && wget https://raw.githubusercontent.com/ignition-tooling/gazebodistro/master/collection-fortress.yaml
+RUN cd ~/workspace/src && vcs import < collection-fortress.yaml
+
+# Add OSRF packages keyring and repository
+RUN wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
+RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
+RUN apt-get update
+
+# Install Gazebo dependencies
+RUN cd ~/workspace/src && apt -y install \
+  $(sort -u $(find . -iname 'packages-'`lsb_release -cs`'.apt' -o -iname 'packages.apt' | grep -v '/\.git/') | sed '/ignition\|sdf/d' | tr '\n' ' ')
+
+# Install Dart 6.13 (remove default version and install new one)
+RUN apt remove libdart* -y
+RUN add-apt-repository ppa:dartsim/ppa -y
+RUN apt-get update -y
+RUN apt-get install libdart6-all-dev -y
+
+
+# Get ros_gz
+RUN cd ~/workspace/src/ && git clone https://github.com/gazebosim/ros_gz.git
+RUN cd ~/workspace/src/ros_gz/ && git checkout $ROS_DISTRO
+
+# Build the ROS gz packages
+RUN /bin/bash -c '. /opt/ros/${ROS_DISTRO}/setup.bash; cd ~/workspace; colcon build --cmake-args -DBUILD_TESTING=OFF --symlink-install --merge-install'
+
+
+# Create entrypoint
+RUN echo '#!/bin/bash \n\
+    source /opt/ros/${ROS_DISTRO}/setup.bash \n\
+    source /root/workspace/install/setup.bash \n\
+    exec "$@"' > /ros_entrypoint.sh
+
+# Set entrypoint and default command
+ENTRYPOINT ["/ros_entrypoint.sh"]
+CMD ["ign", "gazebo", "--headless-rendering"]