Add ROS2 Lyrical docker images and CI

.devcontainer/lyrical/devcontainer.json

@@ -0,0 +1,17 @@
+// https://aka.ms/devcontainer.json
+{
+    "dockerComposeFile": "../../docker/docker-compose.yaml",
+    "shutdownAction": "stopCompose",
+
+    "name": "Fixposition SDK (ROS Lyrical)", "service": "lyrical-dev", "runServices": [ "lyrical-dev" ],
+
+    // Use this user in the container, re-map IDs to local user automatically
+    "remoteUser": "fpsdk",
+    "updateRemoteUserUID": true,
+
+    // compare .services.lyrical-dev.volumes in ../../docker/docker-compose.yaml
+    "workspaceFolder": "/home/fpsdk/fixposition-sdk",
+
+    // Deliberately empty, see fpsdk.code-workspace instead
+    "customizations": {}
+}

.github/workflows/ci.yml

@@ -90,13 +90,34 @@ jobs:
                   name: fpsdk_common_versions_jazzy
                   path: build/jazzy-ci_build_toplevel_release_ros2/*/*_versions.txt
 
+    ci-fpsdk-lyrical:
+        runs-on: ubuntu-latest
+        container:
+            image: ghcr.io/fixposition/fixposition-sdk:lyrical-ci
+        defaults:
+            run:
+                shell: bash
+        steps:
+            - name: Checkout
+              uses: actions/checkout@v6
+            - name: CI
+              run: |
+                  git config --global --add safe.directory ${GITHUB_WORKSPACE}
+                  ./docker/ci.sh
+            - name: Artefacts
+              uses: actions/upload-artifact@v6
+              with:
+                  name: fpsdk_common_versions_lyrical
+                  path: build/lyrical-ci_build_toplevel_release_ros2/*/*_versions.txt
+
     ci-images:
         runs-on: ubuntu-latest
         needs: # we build the images only if these are successful
             - ci-fpsdk-trixie
             - ci-fpsdk-noetic
             - ci-fpsdk-humble
             - ci-fpsdk-jazzy
+            - ci-fpsdk-lyrical
         steps:
             - name: Checkout
               uses: actions/checkout@v6
@@ -109,16 +130,16 @@ jobs:
             - name: Pull
               run: |
                   cd ${GITHUB_WORKSPACE}/docker
-                  COMPOSE_PARALLEL_LIMIT=4 docker compose pull trixie-base noetic-base humble-base jazzy-base
+                  COMPOSE_PARALLEL_LIMIT=4 docker compose pull trixie-base noetic-base humble-base jazzy-base lyrical-base
             - name: Build
               run: |
                   cd ${GITHUB_WORKSPACE}/docker
-                  COMPOSE_PARALLEL_LIMIT=1 docker compose build build-trixie-run build-noetic-run build-humble-run build-jazzy-run
+                  COMPOSE_PARALLEL_LIMIT=1 docker compose build build-trixie-run build-noetic-run build-humble-run build-jazzy-run build-lyrical-run
             - name: Push
               if: ${{ github.ref == 'refs/heads/main' }}
               run: |
                   cd ${GITHUB_WORKSPACE}/docker
-                  docker compose push build-trixie-run build-noetic-run build-humble-run build-jazzy-run
+                  docker compose push build-trixie-run build-noetic-run build-humble-run build-jazzy-run build-lyrical-run
             - name: Expire old images
               if: ${{ github.ref == 'refs/heads/main' }}
               uses: actions/delete-package-versions@v5 # https://github.com/actions/delete-package-versions
@@ -137,6 +158,7 @@ jobs:
             - ci-fpsdk-noetic
             - ci-fpsdk-humble
             - ci-fpsdk-jazzy
+            - ci-fpsdk-lyrical
         permissions:
             pages: write
             id-token: write

.github/workflows/docker.yml

@@ -143,13 +143,48 @@ jobs:
                   docker compose push build-jazzy-run
 
 
+    docker-fpsdk-lyrical:
+        runs-on: ubuntu-latest
+        steps:
+            - name: Checkout
+              uses: actions/checkout@v6
+            - name: Login
+              uses: docker/login-action@v4
+              with:
+                  registry: ghcr.io
+                  username: ${{ github.actor }}
+                  password: ${{ secrets.GITHUB_TOKEN }}
+            # Build and push (!) one image after the other. E.g. we must build and push base before we can build ci, because it needs base (in the registry)
+            - name: Build and push (base)
+              run: |
+                  cd ${GITHUB_WORKSPACE}/docker
+                  COMPOSE_PARALLEL_LIMIT=1 docker compose build build-lyrical-base
+                  docker compose push build-lyrical-base
+            - name: Build and push (ci)
+              run: |
+                  cd ${GITHUB_WORKSPACE}/docker
+                  COMPOSE_PARALLEL_LIMIT=1 docker compose build build-lyrical-ci
+                  docker compose push build-lyrical-ci
+            - name: Build and push (dev)
+              run: |
+                  cd ${GITHUB_WORKSPACE}/docker
+                  COMPOSE_PARALLEL_LIMIT=1 docker compose build build-lyrical-dev
+                  docker compose push build-lyrical-dev
+            - name: Build and push (run)
+              run: |
+                  cd ${GITHUB_WORKSPACE}/docker
+                  COMPOSE_PARALLEL_LIMIT=1 docker compose build build-lyrical-run
+                  docker compose push build-lyrical-run
+
+
     docker-fpsdk-cleanup:
         runs-on: ubuntu-latest
         needs:
             - docker-fpsdk-trixie
             - docker-fpsdk-noetic
             - docker-fpsdk-humble
             - docker-fpsdk-jazzy
+            - docker-fpsdk-lyrical
         steps:
             - name: Expire old images
               uses: actions/delete-package-versions@v5

.gitignore

@@ -40,6 +40,7 @@ baz*
 /*.yaml
 /*.gz
 /*.json
+/.claude
 
 # We must not commit such files ever. See section FPSDK_BUILD_ROS in fpsdk_doc/fpsdk_build.hpp
 CATKIN_IGNORE

Makefile

@@ -274,7 +274,7 @@ $(BUILD_DIR)/.lint-clang-tidy: $(BUILD_DIR)/.make-build
 # ----------------------------------------------------------------------------------------------------------------------
 
 .PHONY: ci
-ci: $(BUILD_DIR)/.ci-bookworm $(BUILD_DIR)/.ci-noetic $(BUILD_DIR)/.ci-humble $(BUILD_DIR)/.ci-jazzy
+ci: $(BUILD_DIR)/.ci-bookworm $(BUILD_DIR)/.ci-noetic $(BUILD_DIR)/.ci-humble $(BUILD_DIR)/.ci-jazzy $(BUILD_DIR)/.ci-lyrical
 
 $(BUILD_DIR)/.ci-bookworm: $(deps)
 	@echo "$(HLW)***** CI (bookworm) *****$(HLO)"
@@ -316,6 +316,16 @@ else
 	@false
 endif
 
+$(BUILD_DIR)/.ci-lyrical: $(deps)
+	@echo "$(HLW)***** CI (lyrical) *****$(HLO)"
+ifeq ($(FPSDK_IMAGE),)
+	$(V)docker/docker.sh run lyrical-ci ./docker/ci.sh
+	$(V)$(TOUCH) $@
+else
+	@echo "This ($@) should not run inside Docker!"
+	@false
+endif
+
 # ----------------------------------------------------------------------------------------------------------------------
 
 .PHONY: pre-commit

docker/Dockerfile.lyrical-base

@@ -0,0 +1,38 @@
+########################################################################################################################
+# ___    ___
+# \  \  /  /
+#  \  \/  /   Copyright (c) Fixposition AG (www.fixposition.com) and contributors
+#  /  /\  \   License: see the LICENSE file
+# /__/  \__\
+#
+########################################################################################################################
+
+# ROS Lyrical Luth (LTS until May 2031) base image (Ubuntu 26.04 LTS "Resolute")
+FROM ros:lyrical-ros-base
+
+# Metadata for github packages
+LABEL org.opencontainers.image.description="Fixposition SDK docker image: ROS Lyrical (Ubuntu 26.04 Resolute) base image with minimal stuff required to build"
+LABEL org.opencontainers.image.source=https://github.com/fixposition
+
+# Variables used in our Docker build and CI scripts
+ENV FPSDK_IMAGE=lyrical-base
+ENV ROS_DISTRO=lyrical
+
+# Remove automatic use of /ros_entrypoint.sh, we'll deal with this ourselves
+ENTRYPOINT []
+
+# Install stuff
+COPY docker/scripts/install_apt_base.sh /tmp
+RUN /tmp/install_apt_base.sh && rm -f /tmp/install_apt_base.sh
+
+# Download, build and install FFmpeg libraries (LGPL)
+COPY docker/scripts/install_ffmpeg.sh /tmp
+RUN /tmp/install_ffmpeg.sh && rm -f /tmp/install_ffmpeg.sh
+
+# Update ld cache for the installed libraries
+RUN /usr/sbin/ldconfig
+
+# For debugging docker builds... (last layer!)
+RUN date > /fixposition-sdk-${FPSDK_IMAGE}
+
+########################################################################################################################

docker/Dockerfile.lyrical-ci

@@ -0,0 +1,31 @@
+########################################################################################################################
+# ___    ___
+# \  \  /  /
+#  \  \/  /   Copyright (c) Fixposition AG (www.fixposition.com) and contributors
+#  /  /\  \   License: see the LICENSE file
+# /__/  \__\
+#
+########################################################################################################################
+
+FROM ghcr.io/fixposition/fixposition-sdk:lyrical-base
+
+# Metadata for github packages
+LABEL org.opencontainers.image.description="Fixposition SDK docker image: ROS Lyrical (Ubuntu 26.04 Resolute) image for Github CI jobs"
+LABEL org.opencontainers.image.source=https://github.com/fixposition
+
+# Variables used in our Docker build and CI scripts
+ENV FPSDK_IMAGE=lyrical-ci
+
+# # Install pre-commit hooks (root user)
+# COPY .pre-commit-config.yaml /tmp
+# COPY docker/scripts/install_precommithooks.sh /tmp
+# RUN /tmp/install_precommithooks.sh && rm -f /tmp/install_precommithooks.sh /tmp/.pre-commit-config.yaml
+
+# Install useful stuff
+COPY docker/scripts/install_apt_ci.sh /tmp
+RUN /tmp/install_apt_ci.sh && rm -f /tmp/install_apt_ci.share
+
+# For debugging docker builds... (last layer!)
+RUN date > /fixposition-sdk-${FPSDK_IMAGE}
+
+########################################################################################################################

docker/Dockerfile.lyrical-dev

@@ -0,0 +1,60 @@
+########################################################################################################################
+# ___    ___
+# \  \  /  /
+#  \  \/  /   Copyright (c) Fixposition AG (www.fixposition.com) and contributors
+#  /  /\  \   License: see the LICENSE file
+# /__/  \__\
+#
+########################################################################################################################
+
+FROM ghcr.io/fixposition/fixposition-sdk:lyrical-base
+
+# Metadata for github packages
+LABEL org.opencontainers.image.description="Fixposition SDK docker image: ROS Lyrical (Ubuntu 26.04 Resolute) image for vscode devcontainer"
+LABEL org.opencontainers.image.source=https://github.com/fixposition
+
+# Variables used in our Docker build and CI scripts
+ENV FPSDK_IMAGE=lyrical-dev
+
+# Unminimize system
+COPY docker/scripts/unminimize_system.sh /tmp
+RUN /tmp/unminimize_system.sh && rm -f /tmp/unminimize_system.sh
+
+# Add user for devcontainer, see ../.devcontainer/devcontainer.json
+COPY docker/scripts/adduser_fpsdk.sh /tmp
+RUN /tmp/adduser_fpsdk.sh && rm -f /tmp/adduser_fpsdk.sh
+
+# # Install pre-commit hooks (fpsdk user)
+# COPY .pre-commit-config.yaml /tmp
+# COPY docker/scripts/install_precommithooks.sh /tmp
+# RUN sudo -u fpsdk /tmp/install_precommithooks.sh && rm -f /tmp/install_precommithooks.sh /tmp/.pre-commit-config.yaml
+
+# Install git-bash-prompt (fpsdk user)
+COPY .devcontainer/fpsdk.bgptheme /tmp
+COPY docker/scripts/install_gitbashprompt.sh /tmp
+RUN sudo -u fpsdk /tmp/install_gitbashprompt.sh && rm -f /tmp/install_gitbashprompt.sh /tmp/.devcontainer/fpsdk.bgptheme
+
+# Set timezone, sane language and locale
+ENV TZ=Europe/Zurich
+ENV LANG=en_GB.UTF-8
+ENV LANGUAGE=en_GB
+ENV LC_ALL=C.UTF-8
+COPY docker/scripts/install_locales.sh /tmp
+RUN /tmp/install_locales.sh && rm -f /tmp/install_locales.sh
+
+# Install yq
+COPY docker/scripts/install_yq.sh /tmp
+RUN /tmp/install_yq.sh && rm -f /tmp/install_yq.sh
+
+# Install mcap
+COPY docker/scripts/install_mcap.sh /tmp
+RUN /tmp/install_mcap.sh && rm -f /tmp/install_mcap.sh
+
+# Install useful stuff
+COPY docker/scripts/install_apt_dev.sh /tmp
+RUN /tmp/install_apt_dev.sh && rm -f /tmp/install_apt_dev.share
+
+# For debugging docker builds... (last layer!)
+RUN date > /fixposition-sdk-${FPSDK_IMAGE}
+
+########################################################################################################################

docker/Dockerfile.lyrical-run

@@ -0,0 +1,37 @@
+########################################################################################################################
+# ___    ___
+# \  \  /  /
+#  \  \/  /   Copyright (c) Fixposition AG (www.fixposition.com) and contributors
+#  /  /\  \   License: see the LICENSE file
+# /__/  \__\
+#
+########################################################################################################################
+
+FROM ghcr.io/fixposition/fixposition-sdk:lyrical-base
+
+# Metadata for github packages
+LABEL org.opencontainers.image.description="Fixposition SDK docker image: ROS Lyrical (Ubuntu 26.04 Resolute) image with pre-built binaries"
+LABEL org.opencontainers.image.source=https://github.com/fixposition
+
+# Variables used in our Docker build and CI scripts
+ENV FPSDK_IMAGE=lyrical-run
+
+# Install useful stuff
+COPY docker/scripts/install_apt_run.sh /tmp
+RUN /tmp/install_apt_run.sh && rm -f /tmp/install_apt_run.sh
+
+COPY .git /tmp/fpsdk/.git/
+RUN <<EOF
+    # Compile and install Fixposition SDK
+    cd /tmp/fpsdk
+    git checkout -- .
+    . /opt/ros/lyrical/setup.sh
+    make -C /tmp/fpsdk install BUILD_TESTING=OFF BUILD_TYPE=Release INSTALL_PREFIX=/usr/local
+EOF
+
+ENTRYPOINT [ "/ros_entrypoint.sh" ]
+
+# For debugging docker builds... (last layer!)
+RUN date > /fixposition-sdk-${FPSDK_IMAGE}
+
+########################################################################################################################

docker/ci.sh

@@ -17,6 +17,8 @@ if [ -z "${FPSDK_IMAGE:-}" ]; then
             export ROS_DISTRO=humble
         elif [ -d /opt/ros/jazzy ]; then
             export ROS_DISTRO=jazzy
+        elif [ -d /opt/ros/lyrical ]; then
+            export ROS_DISTRO=lyrical
         else
             export ROS_DISTRO=
         fi
@@ -106,6 +108,7 @@ function build_toplevel_release_noros
     rm -rf build/${buildname}
     make install \
         INSTALL_PREFIX=install/${buildname} \
+        BUILD_TESTING=ON USE_FFMPEG=ON USE_PROJ=ON \
         BUILD_TYPE=Release \
         BUILD_DIR=build/${buildname} || return 1
     install/${buildname}/bin/fpltool -V || return 1
@@ -119,6 +122,7 @@ function test_toplevel_release_noros
     cd ${FPSDK_SRC_DIR}
     make test \
         INSTALL_PREFIX=install/${buildname} \
+        BUILD_TESTING=ON USE_FFMPEG=ON USE_PROJ=ON \
         BUILD_TYPE=Release \
         BUILD_DIR=build/${buildname} || return 1
 }
@@ -134,6 +138,7 @@ function build_toplevel_debug_noros
     rm -rf build/${buildname}
     make install \
         INSTALL_PREFIX=install/${buildname} \
+        BUILD_TESTING=ON USE_FFMPEG=ON USE_PROJ=ON \
         BUILD_TYPE=Debug \
         BUILD_DIR=build/${buildname} || return 1
     install/${buildname}/bin/fpltool -V || return 1
@@ -147,6 +152,7 @@ function test_toplevel_debug_noros
     cd ${FPSDK_SRC_DIR}
     make test \
         INSTALL_PREFIX=install/${buildname} \
+        BUILD_TESTING=ON USE_FFMPEG=ON USE_PROJ=ON \
         BUILD_TYPE=Debug \
         BUILD_DIR=build/${buildname} || return 1
 }
@@ -507,7 +513,7 @@ function build_colcon_release
     ln -s ../../../fpsdk_apps .
     ln -s ../../../examples/ros2_fpsdk_demo .
     cd ..
-    colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release || return 1
+    colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release || return 1
     set +u
     source install/setup.bash || return 1
     set -u
@@ -573,7 +579,7 @@ if [ "${ROS_DISTRO}" = "noetic" ]; then
     #do_step doxygen_release_ros1          || true # continue
 
 # - Or ROS 2
-elif [ "${ROS_DISTRO}" = "humble" -o "${ROS_DISTRO}" = "jazzy" ]; then
+elif [ "${ROS_DISTRO}" = "humble" -o "${ROS_DISTRO}" = "jazzy" -o "${ROS_DISTRO}" = "lyrical" ]; then
     echo "===== ROS2 builds ====="
     set +u
     source /opt/ros/${ROS_DISTRO}/setup.bash