Merge branch 'main' of https://github.com/Robotic-Decision-Making-Lab/blue into dev/mavros_in_build_stage

Author: amarburg

.docker/Dockerfile

@@ -151,6 +151,16 @@ ENV VIRTUAL_ENV=/home/$USERNAME/.venv/blue
 RUN python3 -m venv --system-site-packages --symlinks $VIRTUAL_ENV
 ENV PATH="$VIRTUAL_ENV/bin:$PATH"
 
+# Python in Ubuntu is now marked as a "Externally managed environment",
+# Per best practice, create a venv for local python packages
+#
+# These two ENVs effectively "activate" the venv for subsequent calls to
+# python/pip in the Dockerfile
+WORKDIR /home/$USERNAME
+ENV VIRTUAL_ENV=/home/$USERNAME/.venv/blue
+RUN python3 -m venv --system-site-packages --symlinks $VIRTUAL_ENV
+ENV PATH="$VIRTUAL_ENV/bin:$PATH"
+
 # Install MAVROS dependencies
 WORKDIR /home/$USERNAME
 RUN wget https://raw.githubusercontent.com/mavlink/mavros/ros2/mavros/scripts/install_geographiclib_datasets.sh \
@@ -183,6 +193,25 @@ RUN sudo apt-get -q update \
     && sudo apt-get clean -y \
     && sudo rm -rf /var/lib/apt/lists/*
 
+# Manually install MAVROS from source in the ws_blue/ workspace
+WORKDIR $USER_WORKSPACE/src/
+ARG MAVROS_RELEASE=ros2
+ARG MAVLINK_RELEASE=release/rolling/mavlink
+RUN git clone --depth 1 -b ${MAVROS_RELEASE} https://github.com/mavlink/mavros.git
+RUN git clone --depth 1 --recursive -b ${MAVLINK_RELEASE} https://github.com/mavlink/mavlink-gbp-release.git mavlink
+# - mavgen uses future.standard_library for backwards compatibility with Python2;
+#   However, this caused issues with Python 3.12 installed in "noble".
+#   Comment those lines out in mavlink.
+#
+# - Fix linkage for yaml-cpp in mavros_extra_plugins
+RUN sed -i -e 's/^from future import standard_library/#from future import standard_library/' \
+    -e 's/standard_library.install_aliases()/#standard_library.install_aliases()/' \
+    mavlink/pymavlink/generator/mavgen.py && \
+    sed -i -e 's/^# find_package(yaml_cpp REQUIRED)/find_package(yaml-cpp REQUIRED)/' \
+    -e '/^ament_target_dependencies(mavros_extras_plugins$/i target_link_libraries(mavros_extras_plugins yaml-cpp::yaml-cpp)' \
+    -e '/^ament_target_dependencies(mavros_extras$/i target_link_libraries(mavros_extras yaml-cpp::yaml-cpp)' \
+    mavros/mavros_extras/CMakeLists.txt
+
 WORKDIR $USER_WORKSPACE
 RUN sudo apt-get -q update \
     && sudo apt-get -q -y upgrade \
@@ -199,7 +228,7 @@ RUN sudo apt-get -q update \
 RUN . "${MAVROS_WORKSPACE}/install/setup.sh" \
     && colcon build
 
-RUN echo "source ${USER_WORKSPACE}/install/setup.bash" >> /home/$USERNAME/.bashrc \
+RUN echo "source ${MAVROS_WORKSPACE}/install/setup.bash" >> /home/$USERNAME/.bashrc \
     && echo "source $VIRTUAL_ENV/bin/activate" >> /home/$USERNAME/.bashrc \
     && echo "\n# Ensure colcon is run in the venv\nalias colcon='python3 -m colcon'" >> /home/$USERNAME/.bashrc
 

.vscode/settings.json

@@ -42,6 +42,7 @@
     },
     "editor.defaultFormatter": "charliermarsh.ruff"
   },
+  "python.defaultInterpreterPath": "${workspaceFolder}/.venv/blue/bin/python",
   "[dockerfile]": {
     "editor.quickSuggestions": {
       "strings": true