Automatic Deployment of ROS2 Based System to remote devices: Dual Copy or Containers?

ROS ROS General
,
41

Hi @Jeremie

that is indeed impressive, although it sounds like you kinda have to stick to the kernels provided by Canonical.
One more question though: How can you be compliant with OSS? How do you generate a document which attributes all the licenses and packages, how can you provide a package with all GPL-ed source code (including all patches) if anyone asks for it?

Regards,
Matthias

42

You can actually build your own. See e.g. this doc page.

When building your snap, you can enable the --enable-manifest flag that will generate a /snap/<name>/current/snap/manifest.yaml file containing a lot of details regarding the source and dependencies of the snap. Note that this is enabled by default when building a snap on launchpad or using the github action.
This file, e.g., is used by the Store to check if snap packages contain libraries with security vulnerabilities as listed in USN.

See e.g. what that might look like for Plotjuggler,

snap install plotjuggler
cat /snap/plotjuggler/current/snap/manifest.yaml
manifest.yaml 
snapcraft-version: 7.3.2
snapcraft-started-at: '2023-05-23T10:55:15.602660Z'
snapcraft-os-release-id: ubuntu
snapcraft-os-release-version-id: '20.04'
name: plotjuggler
adopt-info: plotjuggler
summary: The timeseries visualization tool that you deserve
description: |
  QT5 based application to display time series in plots,
  using an intuitive "drag and drop" interface.

  The snap comes with ROS and ROS 2 plugins.
  You can launch them respectively with

    $ plotjuggler.ros
    $ plotjuggler.ros2

  For convenience a third command is provided,

    $ plotjuggler

  launching PlotJuggler with ROS plugins by default.

  You can change to ROS 2 plugin with

    $ sudo snap set plotjuggler ros-plugin-version=2
issues: https://github.com/facontidavide/plotjuggler/issues
source-code: https://github.com/facontidavide/plotjuggler
license: MPL-2.0
confinement: strict
base: core20
package-repositories:
- components:
  - main
  formats:
  - deb
  key-id: C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
  key-server: keyserver.ubuntu.com
  suites:
  - focal
  type: apt
  url: http://packages.ros.org/ros/ubuntu
- components:
  - main
  formats:
  - deb
  key-id: C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
  key-server: keyserver.ubuntu.com
  suites:
  - focal
  type: apt
  url: http://repo.ros2.org/ubuntu/main
apps:
  plotjuggler:
    adapter: full
    command: usr/bin/launcher-plotjuggler
    command-chain:
    - snap/command-chain/desktop-launch
    plugs:
    - desktop
    - desktop-legacy
    - opengl
    - wayland
    - x11
    - network
    - network-bind
    - home
    - removable-media
  ros:
    adapter: full
    command: usr/bin/launcher-plotjuggler-ros
    command-chain:
    - snap/command-chain/desktop-launch
    plugs:
    - desktop
    - desktop-legacy
    - opengl
    - wayland
    - x11
    - network
    - network-bind
    - home
    - removable-media
  ros2:
    adapter: full
    command: usr/bin/launcher-plotjuggler-ros2
    command-chain:
    - snap/command-chain/desktop-launch
    plugs:
    - desktop
    - desktop-legacy
    - opengl
    - wayland
    - x11
    - network
    - network-bind
    - home
    - removable-media
parts:
  fastdds-no-shared-memory:
    build-environment:
    - SNAPCRAFT_CMAKE_ARGS: -DCMAKE_FIND_ROOT_PATH=/snap/kde-frameworks-5-99-qt-5-15-7-core20-sdk/current
    build-packages: []
    installed-packages: []
    installed-snaps:
    - bare=5
    - core20=1852
    - gtk-common-themes=1535
    - kde-frameworks-5-99-qt-5-15-7-core20-sdk=9
    - kde-frameworks-5-99-qt-5-15-7-core20=15
    - snapcraft=9201
    - snapd=18933
    organize:
      fastdds_no_shared_memory.xml: usr/share/
      launcher-plotjuggler*: usr/bin/
    plugin: dump
    prime: []
    source: snap/local/
    stage: []
    stage-packages: []
    uname: 'Linux 5.15.0-1037-azure #44-Ubuntu SMP Thu Apr 20 13:19:31 UTC 2023 x86_64
      x86_64 x86_64 GNU/Linux'
  kde-neon-extension:
    build-packages:
    - g++
    build-snaps:
    - kde-frameworks-5-99-qt-5-15-7-core20-sdk/latest/stable
    installed-packages: []
    installed-snaps:
    - bare=5
    - core20=1852
    - gtk-common-themes=1535
    - kde-frameworks-5-99-qt-5-15-7-core20-sdk=9
    - kde-frameworks-5-99-qt-5-15-7-core20=15
    - snapcraft=9201
    - snapd=18933
    make-parameters:
    - PLATFORM_PLUG=kde-frameworks-5-99-qt-5-15-7-core20
    plugin: make
    prime: []
    source: /snap/snapcraft/9201/share/snapcraft/extensions/desktop
    source-subdir: kde-neon
    stage: []
    stage-packages: []
    uname: 'Linux 5.15.0-1037-azure #44-Ubuntu SMP Thu Apr 20 13:19:31 UTC 2023 x86_64
      x86_64 x86_64 GNU/Linux'
  plotjuggler:
    build-environment:
    - SNAPCRAFT_CMAKE_ARGS: -DCMAKE_FIND_ROOT_PATH=/snap/kde-frameworks-5-99-qt-5-15-7-core20-sdk/current
    build-packages:
    - distro-info-data
    - libbfd-dev
    - libdw-dev
    - libdwarf-dev
    - libgl-dev
    - libmosquitto-dev
    - libprotoc-dev
    - libpulse0
    - libzmq3-dev
    - libzstd-dev
    cmake-parameters:
    - -DCMAKE_BUILD_TYPE=Release
    installed-packages: []
    installed-snaps:
    - bare=5
    - core20=1852
    - gtk-common-themes=1535
    - kde-frameworks-5-99-qt-5-15-7-core20-sdk=9
    - kde-frameworks-5-99-qt-5-15-7-core20=15
    - snapcraft=9201
    - snapd=18933
    override-pull: |
      snapcraftctl pull

      version="$(git describe --always --tags| sed -e 's/^v//;s/-/+git/;y/-/./')"
      [ -n "$(echo $version | grep "+git")" ] && grade=devel || grade=stable
      snapcraftctl set-version "$version"
      snapcraftctl set-grade "$grade"

      # Necessary to bypass XDG desktop portals because ROS 2 bags metadata.yaml are refering db3 files relatively
      sed -i '/QApplication app(new_argc, new_argv.data());/a QCoreApplication::setAttribute(Qt::AA_DontUseNativeDialogs);' plotjuggler_app/main.cpp
    plugin: cmake
    prime: []
    source: .
    stage: []
    stage-packages:
    - libc-dev-bin=2.31-0ubuntu9.9
    - libc6-dev=2.31-0ubuntu9.9
    - libcrypt-dev=1:4.4.10-10ubuntu4
    - libdw1=0.176-1.1build1
    - libmosquitto1=1.6.9-1
    - libnorm1=1.5.8+dfsg2-2build1
    - libpgm-5.2-0=5.2.122~dfsg-3ubuntu1
    - libprotobuf-dev=3.6.1.3-2ubuntu5.2
    - libprotobuf-lite17=3.6.1.3-2ubuntu5.2
    - libprotobuf17=3.6.1.3-2ubuntu5.2
    - libsodium23=1.0.18-1
    - libzmq5=4.3.2-2ubuntu1
    - libzstd1=1.4.4+dfsg-3ubuntu0.1
    - linux-libc-dev=5.4.0-149.166
    - zlib1g-dev=1:1.2.11.dfsg-2ubuntu1.5
    uname: 'Linux 5.15.0-1037-azure #44-Ubuntu SMP Thu Apr 20 13:19:31 UTC 2023 x86_64
      x86_64 x86_64 GNU/Linux'
  plotjuggler-ros:
    build-environment:
    - SNAPCRAFT_CMAKE_ARGS: -DCMAKE_FIND_ROOT_PATH=/snap/kde-frameworks-5-99-qt-5-15-7-core20-sdk/current
    - ROS_VERSION: '1'
    - ROS_DISTRO: noetic
    build-packages:
    - git
    - python3-vcstool
    - ros-noetic-catkin
    - ros-noetic-ros-environment
    catkin-cmake-args:
    - -DCMAKE_BUILD_TYPE=Release
    - -Dplotjuggler_DIR:PATH=/root/stage/usr/local/lib/cmake/plotjuggler
    - ${SNAPCRAFT_CMAKE_ARGS}
    installed-packages: []
    installed-snaps:
    - bare=5
    - core20=1852
    - gtk-common-themes=1535
    - kde-frameworks-5-99-qt-5-15-7-core20-sdk=9
    - kde-frameworks-5-99-qt-5-15-7-core20=15
    - snapcraft=9201
    - snapd=18933
    override-pull: |
      if [ ! -d plotjuggler-ros-plugins ]; then

        vcs import < /root/parts/plotjuggler/src/snap/local/plotjuggler.rosinstall

        # prevent rosdep from installing plotjuggler
        sed -i "s|<depend>plotjuggler</depend>||" plotjuggler-ros-plugins/package.xml

        # Replace find_package(catkin components plotjuggler)
        # with    find_package(plotjuggler)
        sed -i "s|plotjuggler )|)|" plotjuggler-ros-plugins/CMakeLists.txt
        sed -i "/find_package(catkin/a find_package(plotjuggler REQUIRED)" plotjuggler-ros-plugins/CMakeLists.txt

        # https://github.com/ros/catkin/issues/1170
        sed -i 's|<build_type condition="\$ROS_VERSION == 2">ament_cmake</build_type>|<build_type condition="\$ROS_VERSION == 1">catkin</build_type>|' plotjuggler_msgs/package.xml

        # add plotjuggler_LIBRARIES link dependency as public
        sed -i 's/ros_type_introspection_static/ros_type_introspection_static\n PUBLIC\n ${plotjuggler_LIBRARIES}/' plotjuggler-ros-plugins/plugins/CMakeLists.txt

        # Qt dependencies are managed by the kde neon-extension
        sed -i '/qt/d' plotjuggler-ros-plugins/package.xml
      fi
    plugin: catkin
    prime: []
    source: .
    stage: []
    stage-packages: []
    uname: 'Linux 5.15.0-1037-azure #44-Ubuntu SMP Thu Apr 20 13:19:31 UTC 2023 x86_64
      x86_64 x86_64 GNU/Linux'
  plotjuggler-ros2:
    build-environment:
    - SNAPCRAFT_CMAKE_ARGS: -DCMAKE_FIND_ROOT_PATH=/snap/kde-frameworks-5-99-qt-5-15-7-core20-sdk/current
    - ROS_VERSION: '2'
    - ROS_DISTRO: foxy
    build-packages:
    - git
    - patchelf
    - python3-vcstool
    - ros-foxy-ros-core
    colcon-cmake-args:
    - -DCMAKE_BUILD_TYPE=Release
    - -DBUILD_TESTING=OFF
    - -DBUILD_DOCS=OFF
    - -Dplotjuggler_DIR:PATH=/root/stage/usr/local/lib/cmake/plotjuggler
    - -DCMAKE_PREFIX_PATH=$(echo $SNAPCRAFT_CMAKE_ARGS | awk -F= '{printf("%s/usr/lib/x86_64-linux-gnu/cmake/Qt5",
      $2)}')
    - --event-handlers=console_direct+
    installed-packages: []
    installed-snaps:
    - bare=5
    - core20=1852
    - gtk-common-themes=1535
    - kde-frameworks-5-99-qt-5-15-7-core20-sdk=9
    - kde-frameworks-5-99-qt-5-15-7-core20=15
    - snapcraft=9201
    - snapd=18933
    override-pull: |
      if [ ! -d plotjuggler-ros-plugins ]; then

        vcs import < /root/parts/plotjuggler/src/snap/local/plotjuggler.rosinstall

        # prevent rosdep from installing plotjuggler
        sed -i "s|<depend>plotjuggler</depend>||" plotjuggler-ros-plugins/package.xml

        # add plotjuggler_LIBRARIES link
        sed -i '/\${Qt5Xml_LIBRARIES}/a ${plotjuggler_LIBRARIES}' plotjuggler-ros-plugins/plugins/CMakeLists.txt

        # Qt dependencies are managed by the kde neon-extension
        sed -i '/qt/d' plotjuggler-ros-plugins/package.xml
      fi
    plugin: colcon
    prime: []
    source: .
    stage: []
    stage-packages:
    - cmake-data=3.16.3-1ubuntu1.20.04.1
    - cmake=3.16.3-1ubuntu1.20.04.1
    - docutils-common=0.16+dfsg-2
    - google-mock=1.10.0-2
    - googletest=1.10.0-2
    - gurumdds-2.8=2.8.3190-focal
    - libarchive13=3.4.0-2ubuntu1.2
    - libasn1-8-heimdal=7.7.0+dfsg-1ubuntu1.4
    - libblas3=3.9.0-1build1
    - libbrotli1=1.0.7-6ubuntu0.1
    - libc-dev-bin=2.31-0ubuntu9.9
    - libc6-dev=2.31-0ubuntu9.9
    - libconsole-bridge-dev=0.4.4+dfsg-1build1
    - libconsole-bridge0.4=0.4.4+dfsg-1build1
    - libcrypt-dev=1:4.4.10-10ubuntu4
    - libcurl4=7.68.0-1ubuntu2.18
    - libdpkg-perl=1.19.7ubuntu3.2
    - libeigen3-dev=3.3.7-2
    - libexpat1-dev=2.2.9-1ubuntu0.6
    - libgdbm-compat4=1.18.1-5
    - libgdbm6=1.18.1-5
    - libgfortran5=10.3.0-1ubuntu1~20.04
    - libgssapi3-heimdal=7.7.0+dfsg-1ubuntu1.4
    - libgtest-dev=1.10.0-2
    - libhcrypto4-heimdal=7.7.0+dfsg-1ubuntu1.4
    - libheimbase1-heimdal=7.7.0+dfsg-1ubuntu1.4
    - libheimntlm0-heimdal=7.7.0+dfsg-1ubuntu1.4
    - libhx509-5-heimdal=7.7.0+dfsg-1ubuntu1.4
    - libicu66=66.1-2ubuntu2.1
    - libjsoncpp1=1.7.4-3.1ubuntu2
    - libkrb5-26-heimdal=7.7.0+dfsg-1ubuntu1.4
    - liblapack3=3.9.0-1build1
    - libldap-2.4-2=2.4.49+dfsg-2ubuntu1.9
    - libldap-common=2.4.49+dfsg-2ubuntu1.9
    - libnghttp2-14=1.40.0-1build1
    - libperl5.30=5.30.0-9ubuntu0.3
    - libpsl5=0.21.0-1ubuntu1
    - libpython3-dev=3.8.2-0ubuntu2
    - libpython3.8-dev=3.8.10-0ubuntu1~20.04.7
    - libpython3.8=3.8.10-0ubuntu1~20.04.7
    - libquadmath0=10.3.0-1ubuntu1~20.04
    - librhash0=1.3.9-1
    - libroken18-heimdal=7.7.0+dfsg-1ubuntu1.4
    - librtmp1=2.4+20151223.gitfa8646d.1-2build1
    - libsasl2-2=2.1.27+dfsg-2ubuntu0.1
    - libsasl2-modules-db=2.1.27+dfsg-2ubuntu0.1
    - libspdlog-dev=1:1.5.0-1
    - libspdlog1=1:1.5.0-1
    - libssh-4=0.9.3-2ubuntu2.2
    - libssl-dev=1.1.1f-1ubuntu2.18
    - libtinyxml2-6a=7.0.0+dfsg-1build1
    - libtinyxml2-dev=7.0.0+dfsg-1build1
    - libuv1=1.34.2-1ubuntu1.3
    - libwind0-heimdal=7.7.0+dfsg-1ubuntu1.4
    - libxml2=2.9.10+dfsg-5ubuntu0.20.04.6
    - libyaml-dev=0.2.2-1
    - linux-libc-dev=5.4.0-149.166
    - perl-modules-5.30=5.30.0-9ubuntu0.3
    - perl=5.30.0-9ubuntu0.3
    - pkg-config=0.29.1-0ubuntu4
    - python3-atomicwrites=1.1.5-2build1
    - python3-attr=19.3.0-2
    - python3-catkin-pkg-modules=0.5.2-1
    - python3-dateutil=2.7.3-3ubuntu1
    - python3-dev=3.8.2-0ubuntu2
    - python3-docutils=0.16+dfsg-2
    - python3-empy=3.3.2-5.1
    - python3-importlib-metadata=1.5.0-1
    - python3-lark=0.8.1-1
    - python3-more-itertools=4.2.0-1build1
    - python3-numpy=1:1.17.4-5ubuntu3.1
    - python3-packaging=20.3-1
    - python3-pluggy=0.13.0-2
    - python3-py=1.8.1-1ubuntu0.1
    - python3-pyparsing=2.4.6-1
    - python3-pytest=4.6.9-1
    - python3-roman=2.0.0-3build1
    - python3-six=1.14.0-2
    - python3-wcwidth=0.1.8+dfsg1-3
    - python3-zipp=1.0.0-1
    - python3.8-dev=3.8.10-0ubuntu1~20.04.7
    - ros-foxy-ackermann-msgs=2.0.2-1focal.20230317.003102
    - ros-foxy-action-msgs=1.0.0-1focal.20230317.001140
    - ros-foxy-actionlib-msgs=2.0.5-1focal.20230317.002100
    - ros-foxy-ament-cmake-core=0.9.11-1focal.20220829.172655
    - ros-foxy-ament-cmake-export-definitions=0.9.11-1focal.20220829.173250
    - ros-foxy-ament-cmake-export-dependencies=0.9.11-1focal.20220829.173318
    - ros-foxy-ament-cmake-export-include-directories=0.9.11-1focal.20220829.173345
    - ros-foxy-ament-cmake-export-interfaces=0.9.11-1focal.20220829.173637
    - ros-foxy-ament-cmake-export-libraries=0.9.11-1focal.20220829.173550
    - ros-foxy-ament-cmake-export-link-flags=0.9.11-1focal.20220829.173258
    - ros-foxy-ament-cmake-export-targets=0.9.11-1focal.20220829.173634
    - ros-foxy-ament-cmake-gmock=0.9.11-1focal.20220829.180420
    - ros-foxy-ament-cmake-gtest=0.9.11-1focal.20220829.173716
    - ros-foxy-ament-cmake-include-directories=0.9.11-1focal.20220829.173536
    - ros-foxy-ament-cmake-libraries=0.9.11-1focal.20220829.173243
    - ros-foxy-ament-cmake-pytest=0.9.11-1focal.20220829.173753
    - ros-foxy-ament-cmake-python=0.9.11-1focal.20220829.173356
    - ros-foxy-ament-cmake-ros=0.9.2-1focal.20230306.201601
    - ros-foxy-ament-cmake-target-dependencies=0.9.11-1focal.20220829.173613
    - ros-foxy-ament-cmake-test=0.9.11-1focal.20220829.173552
    - ros-foxy-ament-cmake-version=0.9.11-1focal.20220829.173242
    - ros-foxy-ament-cmake=0.9.11-1focal.20220829.173726
    - ros-foxy-ament-index-cpp=1.1.0-1focal.20230306.201701
    - ros-foxy-ament-index-python=1.1.0-1focal.20230306.200807
    - ros-foxy-ament-package=0.9.5-1focal.20210422.230933
    - ros-foxy-astuff-sensor-msgs=3.1.0-1focal.20230317.012227
    - ros-foxy-automotive-autonomy-msgs=3.0.3-1focal.20230317.005441
    - ros-foxy-automotive-navigation-msgs=3.0.3-1focal.20230317.004931
    - ros-foxy-automotive-platform-msgs=3.0.3-1focal.20230317.002334
    - ros-foxy-autoware-auto-msgs=1.0.0-1focal.20230317.010611
    - ros-foxy-builtin-interfaces=1.0.0-1focal.20230317.000855
    - ros-foxy-can-msgs=2.0.0-1focal.20230317.003120
    - ros-foxy-carla-msgs=1.3.0-1focal.20230317.005058
    - ros-foxy-cartographer-ros-msgs=1.0.9003-1focal.20230317.005125
    - ros-foxy-cascade-lifecycle-msgs=0.0.8-1focal.20230317.020947
    - ros-foxy-class-loader=2.0.3-1focal.20230316.234256
    - ros-foxy-clober-msgs=0.1.0-3focal.20230317.003208
    - ros-foxy-clpe-ros-msgs=0.1.0-1focal.20230317.000617
    - ros-foxy-composition-interfaces=1.0.0-1focal.20230317.001931
    - ros-foxy-connext-cmake-module=1.0.3-1focal.20230306.201950
    - ros-foxy-console-bridge-vendor=1.2.4-1focal.20230306.201841
    - ros-foxy-control-msgs=2.5.1-1focal.20230317.004804
    - ros-foxy-controller-manager-msgs=0.11.0-1focal.20230317.001304
    - ros-foxy-cyclonedds=0.7.0-1focal.20220829.173335
    - ros-foxy-dataspeed-dbw-msgs=2.1.1-1focal.20230317.003224
    - ros-foxy-dataspeed-ulc-msgs=2.1.1-1focal.20230317.003248
    - ros-foxy-dbw-fca-msgs=2.1.1-1focal.20230317.005144
    - ros-foxy-dbw-ford-msgs=2.1.1-1focal.20230317.005151
    - ros-foxy-dbw-polaris-msgs=2.1.1-1focal.20230317.005211
    - ros-foxy-delphi-esr-msgs=3.1.0-1focal.20230317.002407
    - ros-foxy-delphi-mrr-msgs=3.1.0-1focal.20230317.002428
    - ros-foxy-delphi-srr-msgs=3.1.0-1focal.20230317.002420
    - ros-foxy-depthai-ros-msgs=2.7.1-1focal.20230501.211345
    - ros-foxy-derived-object-msgs=3.1.0-1focal.20230317.011748
    - ros-foxy-diagnostic-msgs=2.0.5-1focal.20230317.004825
    - ros-foxy-domain-coordinator=0.9.2-1focal.20230306.200749
    - ros-foxy-dwb-msgs=0.4.7-1focal.20230317.005325
    - ros-foxy-eigen3-cmake-module=0.1.1-1focal.20230306.201228
    - ros-foxy-fastcdr=1.0.13-1focal.20220829.173400
    - ros-foxy-fastrtps-cmake-module=1.0.4-1focal.20230306.201954
    - ros-foxy-fastrtps=2.1.3-1focal.20230306.202239
    - ros-foxy-foonathan-memory-vendor=1.2.0-1focal.20230306.201411
    - ros-foxy-four-wheel-steering-msgs=2.0.1-1focal.20230317.003301
    - ros-foxy-foxglove-msgs=2.1.1-1focal.20230317.005539
    - ros-foxy-gazebo-msgs=3.5.3-1focal.20230317.004803
    - ros-foxy-geographic-msgs=1.0.4-1focal.20230317.005230
    - ros-foxy-geometry-msgs=2.0.5-1focal.20230317.003401
    - ros-foxy-gmock-vendor=1.8.9001-1focal.20220829.173802
    - ros-foxy-gps-msgs=1.0.8-1focal.20230406.144508
    - ros-foxy-graph-msgs=0.2.0-1focal.20230317.005542
    - ros-foxy-grasping-msgs=0.4.0-1focal.20230317.022657
    - ros-foxy-grbl-msgs=0.0.2-2focal.20230317.002630
    - ros-foxy-gtest-vendor=1.8.9001-1focal.20220829.173514
    - ros-foxy-gurumdds-cmake-module=1.4.0-1focal.20230309.014500
    - ros-foxy-husky-msgs=1.0.9-1focal.20230423.082519
    - ros-foxy-ibeo-msgs=3.1.0-1focal.20230317.002441
    - ros-foxy-kartech-linear-actuator-msgs=3.1.0-1focal.20230317.002455
    - ros-foxy-leo-msgs=1.1.0-1focal.20230317.001142
    - ros-foxy-lgsvl-msgs=0.0.4-1focal.20230317.010616
    - ros-foxy-libstatistics-collector=1.0.2-1focal.20230317.005729
    - ros-foxy-libyaml-vendor=1.0.4-1focal.20230316.234256
    - ros-foxy-lifecycle-msgs=1.0.0-1focal.20230317.001051
    - ros-foxy-map-msgs=2.0.2-2focal.20230317.010645
    - ros-foxy-marti-can-msgs=1.4.0-1focal.20230317.003409
    - ros-foxy-marti-common-msgs=1.4.0-1focal.20230317.002456
    - ros-foxy-marti-dbw-msgs=1.4.0-1focal.20230317.002503
    - ros-foxy-marti-introspection-msgs=1.4.0-1focal.20230317.003413
    - ros-foxy-marti-nav-msgs=1.4.0-1focal.20230317.010621
    - ros-foxy-marti-perception-msgs=1.4.0-1focal.20230317.010650
    - ros-foxy-marti-sensor-msgs=1.4.0-1focal.20230317.005732
    - ros-foxy-marti-status-msgs=1.4.0-1focal.20230317.003416
    - ros-foxy-marti-visualization-msgs=1.4.0-1focal.20230317.010626
    - ros-foxy-mavros-msgs=2.4.0-1focal.20230317.010651
    - ros-foxy-message-filters=3.2.5-1focal.20230317.012705
    - ros-foxy-micro-ros-diagnostic-msgs=0.3.0-1focal.20230317.002727
    - ros-foxy-micro-ros-msgs=1.0.0-2focal.20230317.000956
    - ros-foxy-microstrain-inertial-msgs=3.0.1-1focal.20230317.011529
    - ros-foxy-mobileye-560-660-msgs=3.1.0-1focal.20230317.002729
    - ros-foxy-mocap-msgs=0.0.3-1focal.20230317.021942
    - ros-foxy-move-base-msgs=2.0.2-2focal.20230317.004729
    - ros-foxy-moveit-msgs=2.1.0-1focal.20230317.011118
    - ros-foxy-mrpt-msgs=0.4.4-1focal.20230317.010659
    - ros-foxy-nav-2d-msgs=0.4.7-1focal.20230317.004154
    - ros-foxy-nav-msgs=2.0.5-1focal.20230317.004957
    - ros-foxy-nav2-msgs=0.4.7-1focal.20230317.012754
    - ros-foxy-neobotix-usboard-msgs=3.1.0-1focal.20230317.002743
    - ros-foxy-nmea-msgs=2.0.0-1focal.20230317.002815
    - ros-foxy-novatel-gps-msgs=4.1.0-1focal.20230317.003430
    - ros-foxy-object-recognition-msgs=2.0.0-1focal.20230317.010613
    - ros-foxy-octomap-msgs=2.0.0-1focal.20230317.004427
    - ros-foxy-orocos-kdl=3.3.5-1focal.20230316.233725
    - ros-foxy-ouster-msgs=0.2.0-1focal.20230317.002530
    - ros-foxy-pacmod-msgs=3.1.0-1focal.20230317.002726
    - ros-foxy-pcl-msgs=1.0.0-2focal.20230317.010726
    - ros-foxy-pendulum-msgs=0.9.4-1focal.20230317.001142
    - ros-foxy-phidgets-msgs=2.1.2-1focal.20230317.003510
    - ros-foxy-plansys2-msgs=1.0.10-1focal.20230317.020647
    - ros-foxy-python-cmake-module=0.8.1-1focal.20230306.202041
    - ros-foxy-radar-msgs=0.2.1-1focal.20230317.005023
    - ros-foxy-raptor-dbw-msgs=1.2.0-1focal.20230317.004454
    - ros-foxy-raptor-pdu-msgs=1.2.0-1focal.20230317.002051
    - ros-foxy-raspimouse-msgs=1.1.0-4focal.20230317.000855
    - ros-foxy-rc-common-msgs=0.5.3-1focal.20230317.002051
    - ros-foxy-rc-reason-msgs=0.3.0-1focal.20230317.011806
    - ros-foxy-rcl-action=1.1.14-1focal.20230317.005553
    - ros-foxy-rcl-interfaces=1.0.0-1focal.20230317.001143
    - ros-foxy-rcl-logging-spdlog=1.1.0-1focal.20230316.234441
    - ros-foxy-rcl-yaml-param-parser=1.1.14-1focal.20230316.234503
    - ros-foxy-rcl=1.1.14-1focal.20230317.004819
    - ros-foxy-rclcpp-action=2.4.2-1focal.20230317.013059
    - ros-foxy-rclcpp-components=2.4.2-1focal.20230317.013232
    - ros-foxy-rclcpp=2.4.2-1focal.20230317.010104
    - ros-foxy-rclpy=1.0.12-1focal.20230317.005942
    - ros-foxy-rcpputils=1.3.2-1focal.20230316.234041
    - ros-foxy-rcutils=1.1.5-1focal.20230316.233726
    - ros-foxy-realsense-msgs=2.0.8-2focal.20230317.002050
    - ros-foxy-realsense2-camera-msgs=4.51.1-1focal.20230317.002854
    - ros-foxy-rmf-building-map-msgs=1.2.0-1focal.20230317.005024
    - ros-foxy-rmf-charger-msgs=1.4.0-1focal.20230317.001304
    - ros-foxy-rmf-dispenser-msgs=1.4.0-1focal.20230317.005044
    - ros-foxy-rmf-door-msgs=1.4.0-1focal.20230317.001142
    - ros-foxy-rmf-fleet-msgs=1.4.0-1focal.20230317.001142
    - ros-foxy-rmf-ingestor-msgs=1.4.0-1focal.20230317.005444
    - ros-foxy-rmf-lift-msgs=1.4.0-1focal.20230317.001141
    - ros-foxy-rmf-task-msgs=1.4.0-1focal.20230317.005920
    - ros-foxy-rmf-traffic-msgs=1.4.0-1focal.20230317.005039
    - ros-foxy-rmf-visualization-msgs=1.2.0-1focal.20230317.001142
    - ros-foxy-rmf-workcell-msgs=1.4.0-1focal.20230317.001142
    - ros-foxy-rmw-connext-cpp=1.0.3-1focal.20230316.235449
    - ros-foxy-rmw-connext-shared-cpp=1.0.3-1focal.20230316.234954
    - ros-foxy-rmw-cyclonedds-cpp=0.7.11-1focal.20230317.001355
    - ros-foxy-rmw-dds-common=1.0.3-1focal.20230317.001101
    - ros-foxy-rmw-fastrtps-cpp=1.3.1-1focal.20230317.004136
    - ros-foxy-rmw-fastrtps-shared-cpp=1.3.1-1focal.20230317.001418
    - ros-foxy-rmw-gurumdds-cpp=1.4.0-1focal.20230317.001436
    - ros-foxy-rmw-implementation-cmake=1.0.4-1focal.20230316.233727
    - ros-foxy-rmw-implementation=1.0.3-1focal.20230317.004531
    - ros-foxy-rmw=1.0.4-1focal.20230316.234531
    - ros-foxy-robot-controllers-msgs=0.8.1-1focal.20230317.001457
    - ros-foxy-ros-workspace=1.0.2-1focal.20220829.172957
    - ros-foxy-rosapi-msgs=1.3.1-1focal.20230317.003045
    - ros-foxy-rosbridge-msgs=1.3.1-1focal.20230317.001142
    - ros-foxy-rosbridge-test-msgs=1.3.1-1focal.20230317.011107
    - ros-foxy-rosgraph-msgs=1.0.0-1focal.20230317.001142
    - ros-foxy-rosidl-adapter=1.3.0-1focal.20230306.202100
    - ros-foxy-rosidl-cmake=1.3.0-1focal.20230306.202431
    - ros-foxy-rosidl-default-generators=1.0.1-1focal.20230317.000553
    - ros-foxy-rosidl-default-runtime=1.0.1-1focal.20230317.000550
    - ros-foxy-rosidl-generator-c=1.3.0-1focal.20230316.234402
    - ros-foxy-rosidl-generator-cpp=1.3.0-1focal.20230316.234700
    - ros-foxy-rosidl-generator-dds-idl=0.7.1-1focal.20230306.202651
    - ros-foxy-rosidl-generator-py=0.9.7-1focal.20230317.000122
    - ros-foxy-rosidl-parser=1.3.0-1focal.20230306.202249
    - ros-foxy-rosidl-runtime-c=1.3.0-1focal.20230316.234041
    - ros-foxy-rosidl-runtime-cpp=1.3.0-1focal.20230306.201730
    - ros-foxy-rosidl-typesupport-c=1.0.2-1focal.20230316.235437
    - ros-foxy-rosidl-typesupport-connext-c=1.0.3-1focal.20230316.235210
    - ros-foxy-rosidl-typesupport-connext-cpp=1.0.3-1focal.20230316.234835
    - ros-foxy-rosidl-typesupport-cpp=1.0.2-1focal.20230316.235845
    - ros-foxy-rosidl-typesupport-fastrtps-c=1.0.4-1focal.20230316.235200
    - ros-foxy-rosidl-typesupport-fastrtps-cpp=1.0.4-1focal.20230316.234833
    - ros-foxy-rosidl-typesupport-interface=1.3.0-1focal.20230306.201731
    - ros-foxy-rosidl-typesupport-introspection-c=1.3.0-1focal.20230316.234256
    - ros-foxy-rosidl-typesupport-introspection-cpp=1.3.0-1focal.20230316.234431
    - ros-foxy-rover-msgs=0.1.1-2focal.20230317.001142
    - ros-foxy-rpyutils=0.2.0-1focal.20230306.200911
    - ros-foxy-sensor-msgs=2.0.5-1focal.20230317.005531
    - ros-foxy-shape-msgs=2.0.5-1focal.20230317.005829
    - ros-foxy-smacc2-msgs=2.1.21-1focal.20230501.211409
    - ros-foxy-soccer-object-msgs=1.0.1-1focal.20230317.004514
    - ros-foxy-spdlog-vendor=1.1.3-1focal.20230306.202203
    - ros-foxy-statistics-msgs=1.0.0-1focal.20230317.001143
    - ros-foxy-std-msgs=2.0.5-1focal.20230317.001500
    - ros-foxy-stereo-msgs=2.0.5-1focal.20230317.010740
    - ros-foxy-stubborn-buddies-msgs=1.0.0-1focal.20230317.002545
    - ros-foxy-system-modes-msgs=0.9.0-1focal.20230317.001044
    - ros-foxy-teleop-tools-msgs=1.3.0-1focal.20230317.001851
    - ros-foxy-test-msgs=1.0.0-1focal.20230317.002921
    - ros-foxy-tf2-geometry-msgs=0.13.14-1focal.20230317.014327
    - ros-foxy-tf2-msgs=0.13.14-1focal.20230317.004727
    - ros-foxy-tf2-py=0.13.14-1focal.20230317.011937
    - ros-foxy-tf2-ros=0.13.14-1focal.20230317.013659
    - ros-foxy-tf2-sensor-msgs=0.13.14-1focal.20230317.014344
    - ros-foxy-tf2=0.13.14-1focal.20230317.005839
    - ros-foxy-tracetools=1.0.5-2focal.20230306.201813
    - ros-foxy-trajectory-msgs=2.0.5-1focal.20230317.004527
    - ros-foxy-turtlebot3-msgs=2.2.1-1focal.20230317.003116
    - ros-foxy-ublox-msgs=2.1.0-1focal.20230317.010805
    - ros-foxy-ublox-serialization=2.1.0-1focal.20220829.180056
    - ros-foxy-udp-msgs=0.0.3-2focal.20230317.002050
    - ros-foxy-unique-identifier-msgs=2.1.3-1focal.20230317.000907
    - ros-foxy-ur-msgs=2.0.0-1focal.20230317.005852
    - ros-foxy-urg-node-msgs=1.0.1-1focal.20230317.002605
    - ros-foxy-velodyne-msgs=2.1.1-1focal.20230317.002051
    - ros-foxy-vision-msgs=2.0.0-1focal.20230317.010803
    - ros-foxy-visualization-msgs=2.0.5-1focal.20230317.004537
    - ros-foxy-vrxperience-msgs=1.0.0-1focal.20230317.004612
    - ros-foxy-webots-ros2-msgs=2023.0.2-1focal.20230317.011454
    - ros-foxy-wiimote-msgs=3.0.1-1focal.20230317.004638
    - rti-connext-dds-5.3.1=5.3.1-nc.x64Linux3gcc5.4.0+2
    - sgml-base=1.29.1
    - xml-core=0.18+nmu1
    - zlib1g-dev=1:1.2.11.dfsg-2ubuntu1.5
    uname: 'Linux 5.15.0-1037-azure #44-Ubuntu SMP Thu Apr 20 13:19:31 UTC 2023 x86_64
      x86_64 x86_64 GNU/Linux'
assumes:
- snapd2.43
compression: lzo
plugs:
  desktop:
    mount-host-font-cache: false
  icon-themes:
    default-provider: gtk-common-themes
    interface: content
    target: $SNAP/data-dir/icons
  kde-frameworks-5-99-qt-5-15-7-core20:
    content: kde-frameworks-5-99-qt-5-15-7-core20-all
    default-provider: kde-frameworks-5-99-qt-5-15-7-core20
    interface: content
    target: $SNAP/kf5
  sound-themes:
    default-provider: gtk-common-themes
    interface: content
    target: $SNAP/data-dir/sounds
environment:
  SNAP_DESKTOP_RUNTIME: $SNAP/kf5
hooks:
  configure:
    command-chain:
    - snap/command-chain/hooks-configure-desktop
    plugs:
    - desktop
layout:
  /usr/share/X11:
    symlink: $SNAP/kf5/usr/share/X11
architectures:
- amd64
grade: stable
version: 3.7.1
image-info:
  build_url: https://github.com/facontidavide/PlotJuggler/actions/runs/5056364351
build-packages:
- binutils-dev=2.34-6ubuntu1.4
- cmake-data=3.16.3-1ubuntu1.20.04.1
- cmake=3.16.3-1ubuntu1.20.04.1
- comerr-dev=2.1-1.45.5-2ubuntu1.1
- cppcheck=1.90-4build1
- distro-info-data=0.43ubuntu1.13
- docutils-common=0.16+dfsg-2
- git-man=1:2.25.1-1ubuntu3.11
- git=1:2.25.1-1ubuntu3.11
- google-mock=1.10.0-2
- googletest=1.10.0-2
- krb5-multidev=1.17-6ubuntu4.3
- libarchive13=3.4.0-2ubuntu1.2
- libasyncns0=0.8-6
- libblas3=3.9.0-1build1
- libbrotli1=1.0.7-6ubuntu0.1
- libconsole-bridge-dev=0.4.4+dfsg-1build1
- libconsole-bridge0.4=0.4.4+dfsg-1build1
- libcurl3-gnutls=7.68.0-1ubuntu2.18
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- libdrm-common=2.4.107-8ubuntu1~20.04.2
- libdrm-intel1=2.4.107-8ubuntu1~20.04.2
- libdrm-nouveau2=2.4.107-8ubuntu1~20.04.2
- libdrm-radeon1=2.4.107-8ubuntu1~20.04.2
- libdrm2=2.4.107-8ubuntu1~20.04.2
- libdw-dev=0.176-1.1build1
- libdw1=0.176-1.1build1
- libdwarf-dev=20200114-1
- libdwarf1=20200114-1
- libelf-dev=0.176-1.1build1
- libelf1=0.176-1.1build1
- liberror-perl=0.17029-1
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- libgl1-mesa-dri=21.2.6-0ubuntu0.1~20.04.2
- libgl1=1.3.2-1~ubuntu0.20.04.2
- libglapi-mesa=21.2.6-0ubuntu0.1~20.04.2
- libglib2.0-0=2.64.6-1~ubuntu20.04.4
- libglvnd0=1.3.2-1~ubuntu0.20.04.2
- libglx-dev=1.3.2-1~ubuntu0.20.04.2
- libglx-mesa0=21.2.6-0ubuntu0.1~20.04.2
- libglx0=1.3.2-1~ubuntu0.20.04.2
- libgssrpc4=1.17-6ubuntu4.3
- libgtest-dev=1.10.0-2
- libicu66=66.1-2ubuntu2.1
- libjsoncpp1=1.7.4-3.1ubuntu2
- libkadm5clnt-mit11=1.17-6ubuntu4.3
- libkadm5srv-mit11=1.17-6ubuntu4.3
- libkdb5-9=1.17-6ubuntu4.3
- libkrb5-dev=1.17-6ubuntu4.3
- liblapack3=3.9.0-1build1
- libllvm12=1:12.0.0-3ubuntu1~20.04.5
- liblzma-dev=5.2.4-1ubuntu1.1
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- libmosquitto1=1.6.9-1
- libnghttp2-14=1.40.0-1build1
- libnorm-dev=1.5.8+dfsg2-2build1
- libnorm1=1.5.8+dfsg2-2build1
- libogg0=1.3.4-0ubuntu1
- libpciaccess0=0.16-0ubuntu1
- libpgm-5.2-0=5.2.122~dfsg-3ubuntu1
- libpgm-dev=5.2.122~dfsg-3ubuntu1
- libprotobuf-dev=3.6.1.3-2ubuntu5.2
- libprotobuf-lite17=3.6.1.3-2ubuntu5.2
- libprotobuf17=3.6.1.3-2ubuntu5.2
- libprotoc-dev=3.6.1.3-2ubuntu5.2
- libprotoc17=3.6.1.3-2ubuntu5.2
- libpsl5=0.21.0-1ubuntu1
- libpthread-stubs0-dev=0.4-1
- libpulse0=1:13.99.1-1ubuntu3.13
- libpython3-dev=3.8.2-0ubuntu2
- libpython3.8-dev=3.8.10-0ubuntu1~20.04.7
- libpython3.8=3.8.10-0ubuntu1~20.04.7
- librhash0=1.3.9-1
- librtmp1=2.4+20151223.gitfa8646d.1-2build1
- libsensors-config=1:3.6.0-2ubuntu1.1
- libsensors5=1:3.6.0-2ubuntu1.1
- libsndfile1=1.0.28-7ubuntu0.1
- libsodium-dev=1.0.18-1
- libsodium23=1.0.18-1
- libspdlog-dev=1:1.5.0-1
- libspdlog1=1:1.5.0-1
- libssh-4=0.9.3-2ubuntu2.2
- libssl-dev=1.1.1f-1ubuntu2.18
- libtinyxml2-6a=7.0.0+dfsg-1build1
- libtinyxml2-dev=7.0.0+dfsg-1build1
- libuv1=1.34.2-1ubuntu1.3
- libvorbis0a=1.3.6-2ubuntu1
- libvorbisenc2=1.3.6-2ubuntu1
- libvulkan1=1.2.131.2-1
- libwrap0=7.6.q-30
- libx11-6=2:1.6.9-2ubuntu1.2
- libx11-data=2:1.6.9-2ubuntu1.2
- libx11-dev=2:1.6.9-2ubuntu1.2
- libx11-xcb1=2:1.6.9-2ubuntu1.2
- libxau-dev=1:1.0.9-0ubuntu1
- libxau6=1:1.0.9-0ubuntu1
- libxcb-dri2-0=1.14-2
- libxcb-dri3-0=1.14-2
- libxcb-glx0=1.14-2
- libxcb-present0=1.14-2
- libxcb-shm0=1.14-2
- libxcb-sync1=1.14-2
- libxcb-xfixes0=1.14-2
- libxcb1-dev=1.14-2
- libxcb1=1.14-2
- libxdmcp-dev=1:1.1.3-0ubuntu1
- libxdmcp6=1:1.1.3-0ubuntu1
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- libxml2-utils=2.9.10+dfsg-5ubuntu0.20.04.6
- libxml2=2.9.10+dfsg-5ubuntu0.20.04.6
- libxshmfence1=1.3-1
- libxslt1.1=1.1.34-4ubuntu0.20.04.1
- libxxf86vm1=1:1.1.4-1build1
- libyaml-0-2=0.2.2-1
- libyaml-dev=0.2.2-1
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- libzmq5=4.3.2-2ubuntu1
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build-snaps:
- core20=1852
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primed-stage-packages:
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- ros-foxy-grbl-msgs=0.0.2-2focal.20230317.002630
- ros-foxy-gtest-vendor=1.8.9001-1focal.20220829.173514
- ros-foxy-gurumdds-cmake-module=1.4.0-1focal.20230309.014500
- ros-foxy-husky-msgs=1.0.9-1focal.20230423.082519
- ros-foxy-ibeo-msgs=3.1.0-1focal.20230317.002441
- ros-foxy-kartech-linear-actuator-msgs=3.1.0-1focal.20230317.002455
- ros-foxy-leo-msgs=1.1.0-1focal.20230317.001142
- ros-foxy-lgsvl-msgs=0.0.4-1focal.20230317.010616
- ros-foxy-libstatistics-collector=1.0.2-1focal.20230317.005729
- ros-foxy-libyaml-vendor=1.0.4-1focal.20230316.234256
- ros-foxy-lifecycle-msgs=1.0.0-1focal.20230317.001051
- ros-foxy-map-msgs=2.0.2-2focal.20230317.010645
- ros-foxy-marti-can-msgs=1.4.0-1focal.20230317.003409
- ros-foxy-marti-common-msgs=1.4.0-1focal.20230317.002456
- ros-foxy-marti-dbw-msgs=1.4.0-1focal.20230317.002503
- ros-foxy-marti-introspection-msgs=1.4.0-1focal.20230317.003413
- ros-foxy-marti-nav-msgs=1.4.0-1focal.20230317.010621
- ros-foxy-marti-perception-msgs=1.4.0-1focal.20230317.010650
- ros-foxy-marti-sensor-msgs=1.4.0-1focal.20230317.005732
- ros-foxy-marti-status-msgs=1.4.0-1focal.20230317.003416
- ros-foxy-marti-visualization-msgs=1.4.0-1focal.20230317.010626
- ros-foxy-mavros-msgs=2.4.0-1focal.20230317.010651
- ros-foxy-message-filters=3.2.5-1focal.20230317.012705
- ros-foxy-micro-ros-diagnostic-msgs=0.3.0-1focal.20230317.002727
- ros-foxy-micro-ros-msgs=1.0.0-2focal.20230317.000956
- ros-foxy-microstrain-inertial-msgs=3.0.1-1focal.20230317.011529
- ros-foxy-mobileye-560-660-msgs=3.1.0-1focal.20230317.002729
- ros-foxy-mocap-msgs=0.0.3-1focal.20230317.021942
- ros-foxy-move-base-msgs=2.0.2-2focal.20230317.004729
- ros-foxy-moveit-msgs=2.1.0-1focal.20230317.011118
- ros-foxy-mrpt-msgs=0.4.4-1focal.20230317.010659
- ros-foxy-nav-2d-msgs=0.4.7-1focal.20230317.004154
- ros-foxy-nav-msgs=2.0.5-1focal.20230317.004957
- ros-foxy-nav2-msgs=0.4.7-1focal.20230317.012754
- ros-foxy-neobotix-usboard-msgs=3.1.0-1focal.20230317.002743
- ros-foxy-nmea-msgs=2.0.0-1focal.20230317.002815
- ros-foxy-novatel-gps-msgs=4.1.0-1focal.20230317.003430
- ros-foxy-object-recognition-msgs=2.0.0-1focal.20230317.010613
- ros-foxy-octomap-msgs=2.0.0-1focal.20230317.004427
- ros-foxy-orocos-kdl=3.3.5-1focal.20230316.233725
- ros-foxy-ouster-msgs=0.2.0-1focal.20230317.002530
- ros-foxy-pacmod-msgs=3.1.0-1focal.20230317.002726
- ros-foxy-pcl-msgs=1.0.0-2focal.20230317.010726
- ros-foxy-pendulum-msgs=0.9.4-1focal.20230317.001142
- ros-foxy-phidgets-msgs=2.1.2-1focal.20230317.003510
- ros-foxy-plansys2-msgs=1.0.10-1focal.20230317.020647
- ros-foxy-pluginlib=2.5.4-1focal.20230316.234650
- ros-foxy-python-cmake-module=0.8.1-1focal.20230306.202041
- ros-foxy-radar-msgs=0.2.1-1focal.20230317.005023
- ros-foxy-raptor-dbw-msgs=1.2.0-1focal.20230317.004454
- ros-foxy-raptor-pdu-msgs=1.2.0-1focal.20230317.002051
- ros-foxy-raspimouse-msgs=1.1.0-4focal.20230317.000855
- ros-foxy-rc-common-msgs=0.5.3-1focal.20230317.002051
- ros-foxy-rc-reason-msgs=0.3.0-1focal.20230317.011806
- ros-foxy-rcl-action=1.1.14-1focal.20230317.005553
- ros-foxy-rcl-interfaces=1.0.0-1focal.20230317.001143
- ros-foxy-rcl-logging-spdlog=1.1.0-1focal.20230316.234441
- ros-foxy-rcl-yaml-param-parser=1.1.14-1focal.20230316.234503
- ros-foxy-rcl=1.1.14-1focal.20230317.004819
- ros-foxy-rclcpp-action=2.4.2-1focal.20230317.013059
- ros-foxy-rclcpp-components=2.4.2-1focal.20230317.013232

** File truncated as I hit the Discourse's char limit**
43

Hi All,

Based on the activity and interests on this thread, besides a BoF at ROSCon 2023, we probably want to have a couple of follow-up meetings?
In addition to open source project such as docker, podman and k8s, we see many proprietary services to manage the deployment.
I think it would be worth to summarize the tools, reasons, differences for each so that we can see more use cases, missing feature and ideas.

If you are interested, please give me :+1: or :-1: on this post.

thanks,
Tomoya

13 Likes
44

like Amna Mazen reacted to your message:

45

Happy to attend and discuss why I think Botnix is an ideal solution, as much as I respect what others are doing in this space. It is an exciting time. Please feel free to join the Botnix community too. One of our first orders of business is adding native support for ROS.

:+1:

46

I tried updating GitHub - lelongg/ros_to_guix: This repository is an effort to build ROS with the GNU Guix package manager. to make a distribution of noetic, but gave up because noetic relies on old versions of some packages and it was too much work to re-create them all.

Then I created my own ros2guix for ROS2, and was stuck at correctly filling the search-paths, partly because search-path-specification doesnā€™t easily work with ament IIRC. Iā€™m not very fluent in Guix so I probably missed ways to do it.

You can check it here. Warning: itā€™s a mess.

47

Hi, interesting project, thanks for sharing.

Saw your brief reference to other solutions, do you have any more detailed elaboration around what parts of an OSTree based solution that you considered not match your requirements?

48

In the context of this topic Guix has an interesting feature ā†’ guix pack (GNU Guix Reference Manual) that can export a subset of packages to a non-guix system as an archive or a docker image. Does nix offer something similar?

49

I never tried but there seems to be ways to do it:

50

Hello!

I saw ostree being mentioned in this thread and thought Iā€™d share some of the work Iā€™ve done. For a little bit of context, ostree native containers allow you to boot and upgrade your OS from a container image. In other words, the container image is not run as a container, but it changes the host system itself.

Hereā€™s an example of the work Iā€™ve done with the Fedora CoreOS (FCOS) native container image (an ostree based system). In this repository, you will find a Dockerfile in which ROS2 Rolling has been built from source on top of the FCOS base image. Therefore, if you are running a FCOS system, you can rebase your system to the following container image:


quay.io/fedora-sig-robotics/ros2-coreos

You will then have ROS2 installed and configured natively on your host machine in a few minutes. Detailed instructions can be found in the README

Iā€™ve also recently been working on a container image for Autoware which includes the required host machine dependencies (Nvidia CUDA, Docker Engine, Nvidia Container Toolkit, rocker) needed to run the Autoware Universe docker container. Therefore, the hope is that users can rebase their system and be able to run Autoware within a few minutes. This is still a work in progress but gives an additional perspective on the applications of ostree native containers.

Now a few final points of interest that are worth mentioning:

  • Ostree based systems are immutable by nature which adds a layer of security for robotics applications
  • Updates for the system now use a container registry as its source of truth. In other words, if you want to update your system by adding/removing packages, changing some files on the system, etc. you can just layer it in your Dockerfile, build the image, push it to your container registry, and run rpm-ostree upgrade to pull the new layers youā€™ve added. Automatic updates can also configured using the rpm-ostreed service
  • Updates are atomic meaning that it will return back to the old system if a problem occurs during the update (although I donā€™t think it works for kernel update failures). Ostree also keeps your previous deployment of your system, allowing you to rollback using rpm-ostree rollback

Open to feedback and discussion as well!

2 Likes
51

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