feat(arcor2_ur): updated ROS packages

.github/workflows/pants.yaml

@@ -59,10 +59,9 @@ jobs:
         pants --changed-since=HEAD update-build-files --check
     - name: install system dependencies
       run: | # cargo is required to build fastuuid (no wheels for Python 3.11)
+        sudo apt update
         sudo apt install jq cargo
-    - name: install ROS 2 dependencies
-      run: |  # copied from arcor2_ur Dockerfile TODO move it into some bash script to have it in one place
-        sudo apt install ros-jazzy-ros-base=0.11.0-1noble.20240916.013254 ros-jazzy-ur=2.4.10-1noble.20240916.021917 ros-jazzy-moveit-py=2.10.0-1noble.20240916.020150
+        sudo ./build-support/install_ur_dependencies.sh
     - name: Lint
       run: |
         pants --changed-since=origin/master lint

build-support/BUILD

@@ -0,0 +1 @@
+shell_source(name="install_ur_dependencies.sh", source="install_ur_dependencies.sh")

build-support/install_ur_dependencies.sh

@@ -0,0 +1,6 @@
+#!/usr/bin/env bash
+
+apt-get install -y -q --no-install-recommends \
+	ros-jazzy-ros-base=0.11.0-1noble.20240922.110418 \
+	ros-jazzy-ur=2.4.10-1noble.20240922.120253 \
+	ros-jazzy-moveit-py=2.10.0-1noble.20240922.114626

compose-files/ur-demo/docker-compose.yml

@@ -1,6 +1,6 @@
 services:
   ur-demo-ursim:
-    image: universalrobots/ursim_e-series:5.16.0
+    image: universalrobots/ursim_e-series:5.17.2
     container_name: ur-demo-ursim
     ports:
       - "5900:5900"  # VNC port
@@ -13,11 +13,11 @@ services:
       - ursim-gui-cache:/ursim/GUI
       - urcap-build-cache:/ursim/.urcaps
   ur-demo-robot-api:
-    image: arcor2/arcor2_ur:1.1.0
+    image: arcor2/arcor2_ur:1.2.0
     container_name: ur-demo-robot-api
     ports:
       - "5012:5012"
-    networks:
+    networks:  # TODO use network_mode: "host" for the real robot
       - ur-demo-network
     restart: always  # the service tends to crash when calling PUT /state/stop
     cap_add:
@@ -159,7 +159,7 @@ services:
       - ur-demo-asset
 
   ur-demo-upload-object-types:
-    image: arcor2/arcor2_ur_ot:1.1.0
+    image: arcor2/arcor2_ur_ot:1.2.0
     container_name: "ur-demo-upload-object-types"
     depends_on:
       ur-demo-project:

src/docker/arcor2_ur/BUILD

@@ -1,2 +1,2 @@
 shell_source(name="start.sh", source="start.sh")
-docker_image(name="arcor2_ur", repository="arcor2/arcor2_ur", dependencies=[":start.sh"], image_tags=["1.1.0"])
+docker_image(name="arcor2_ur", repository="arcor2/arcor2_ur", dependencies=[":start.sh", "build-support:install_ur_dependencies.sh"], image_tags=["1.2.0"])

src/docker/arcor2_ur/Dockerfile

@@ -2,13 +2,13 @@ FROM ubuntu:24.04 AS deps
 COPY src.python.arcor2_ur.scripts/ur.pex /binary.pex
 RUN apt-get update && apt-get install -y -q --no-install-recommends \
     python3=3.12.3-0ubuntu2
-RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 python3 /binary.pex venv --scope=deps --compile /bin/app
+RUN PEX_TOOLS=1 python3 /binary.pex venv --scope=deps --compile /bin/app
 
 FROM ubuntu:24.04 AS srcs
 COPY src.python.arcor2_ur.scripts/ur.pex /binary.pex
 RUN apt-get update && apt-get install -y -q --no-install-recommends \
     python3=3.12.3-0ubuntu2
-RUN PEX_TOOLS=1 PYTHONOPTIMIZE=1 python3 /binary.pex venv --scope=srcs --compile /bin/app
+RUN PEX_TOOLS=1 python3 /binary.pex venv --scope=srcs --compile /bin/app
 
 FROM ubuntu:24.04
 
@@ -35,24 +35,19 @@ RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o
 # hadolint ignore=SC2086
 RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo \"${UBUNTU_CODENAME}\") main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
 
-
-
-RUN apt-get update && apt-get install -y -q --no-install-recommends \
-    ros-jazzy-ros-base=0.11.0-1noble.20240916.013254 \
-    ros-jazzy-ur=2.4.10-1noble.20240916.021917 \
-    ros-jazzy-moveit-py=2.10.0-1noble.20240916.020150 \
-    && apt-get clean \
-    && rm -rf /var/lib/apt/lists/*
-RUN echo "source /opt/ros/jazzy/setup.bash" >> /etc/bash.bashrc
+COPY build-support/install_ur_dependencies.sh /root/install_ur_dependencies.sh
 
 # libgl1-mesa-glx ??
 RUN apt-get update \
+        && /root/install_ur_dependencies.sh \
         && apt-get install -y -q --no-install-recommends \
         libglib2.0-0=2.80.0-6ubuntu3.1 \
         libgomp1=14-20240412-0ubuntu1 libusb-1.0-0=2:1.0.27-1 \
         && apt-get clean \
         && rm -rf /var/lib/apt/lists/*
 
+RUN echo "source /opt/ros/jazzy/setup.bash" >> /etc/bash.bashrc
+
 COPY src/docker/arcor2_ur/start.sh /root/start.sh
 RUN chmod +x /root/start.sh
 ENTRYPOINT ["/root/start.sh"]

src/docker/arcor2_ur/start.sh

@@ -12,4 +12,4 @@ sleep 10s # TODO find a way how to detect that the robot is up and running (test
 
 ros2 launch ur_robot_driver ur_control.launch.py ur_type:="$UR_TYPE" robot_ip:="$ROBOT_CONTAINER_IP" launch_rviz:=false &
 
-PEX_EXTRA_SYS_PATH=/opt/ros/jazzy/lib/python3.12/site-packages /bin/app/pex
+PEX_EXTRA_SYS_PATH=/opt/ros/jazzy/lib/python3.12/site-packages PYTHONOPTIMIZE=1 /bin/app/pex

src/docker/arcor2_ur_ot/BUILD

@@ -1 +1 @@
-docker_image(name="arcor2_ur_ot", repository="arcor2/arcor2_ur_ot", image_tags=["1.1.0"])
+docker_image(name="arcor2_ur_ot", repository="arcor2/arcor2_ur_ot", image_tags=["1.2.0"])

src/python/arcor2_ur/CHANGELOG.md

@@ -2,6 +2,12 @@
 
 The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),
 
+## [1.2.0] - 2024-09-27
+
+### Changed
+
+- Update of ROS 2 dependencies.
+
 ## [1.1.0] - 2024-09-23
 
 ### Changed

src/python/arcor2_ur/VERSION

@@ -1 +1 @@
-1.1.0
+1.2.0