Description

• Resolves Explore alternative ways to install OMPL #33
• Breaks ability to run Raye codebase
  • I don’t foresee a need to be able to run Raye and new project code together; the architectures of the 2 projects are different
  • Would probably be a pain to figure out ROS 1 bridge
  • Would simplify devcontainer and drastically reduce its size and build time, potentially leading to performance gains

Changelog

• Base image
  • Ubuntu 18.04 -> 22.04
  • ROS eloquent -> humble
  • OMPL 1.5.0 based off script -> master branch based off dockerfile
  • Builds in 1 hr -> 10 min
    • Still uses a lot of RAM though, 16GB+ strongly recommended
• Dev image
  • Network systems dependencies
    • clang: 10 -> 14 (default for 22.04)
    • googletest: 1.12 -> 1.11 (apt repository)
    • boost: 1.80 -> 1.74 (apt repository)
• Dev container image
  • Size: 6.41GB -> 3.77GB

What's left

• Update dev container to use the new dev image
• Setup tools deprecation warning when building Python packages: add to Hacks and Known Issues #66
• See if ROS autocomplete is working in zsh: will tackle in another issue Prompt Improvements #65
• Add ARM versions of containers: will tackle in another issue Support ARM computers #31
• Compare with the develop branch
• Compare with the humble branch of athackst/vscode_ros2_workspace
• Source ROS overlay in ~/.bashrc
• Merge in Update Scripts to Migrate CI to Subteam Repos #60
• Remove ament prefix from clang-tidy CI
• Uncomment network_systems, comment out example repos
• Merge with main
• Run regression test
• Create new branch named raye for what's in main before this gets merged in
  • Protect branch
  • Add it to workflows

After merging

• Revert network_systems branch to main once v2-updates is merged in
• Update documentation: Update Sailbot Workspace and ROS documentation docs#111