Use rhel10 for rolling

Author: christophfroehlich

.github/workflows/build_and_publish_rhel_docker.yaml

@@ -41,7 +41,7 @@ jobs:
             rhel_version: rhel9
             source_packages: pinocchio
           - ros_distro: rolling
-            rhel_version: rhel9
+            rhel_version: rhel10
             source_packages: pinocchio
     steps:
       - uses: actions/checkout@v6

ros2_rhel/Dockerfile.rhel10

@@ -0,0 +1,125 @@
+FROM almalinux:10
+ARG ROS_DISTRO=rolling
+
+# ROS prerequisites
+# see https://docs.ros.org/en/rolling/Installation/RHEL-Install-RPMs.html
+RUN dnf install -y langpacks-en glibc-langpack-en && \
+  export LANG=en_US.UTF-8 && \
+  dnf install -y 'dnf-command(config-manager)' epel-release && \
+  dnf config-manager --set-enabled crb && \
+  dnf clean all
+
+# Setup Sources
+RUN set -eux; \
+  export ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F\" '{print $4}') && \
+  if [ -z "$ROS_APT_SOURCE_VERSION" ]; then \
+    echo "Failed to fetch ROS_APT_SOURCE_VERSION" >&2; \
+    exit 1; \
+  fi ; \
+  ROS_RPM_URL="https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-release-${ROS_APT_SOURCE_VERSION}-1.noarch.rpm" ; \
+  echo "Installing ROS RPM: $ROS_RPM_URL" ; \
+  dnf install -y "$ROS_RPM_URL"
+
+# install system dependencies
+RUN dnf makecache -y
+RUN dnf install -y \
+  ccache \
+  gcc-c++ \
+  git \
+  make \
+  patch \
+  boost-devel \
+  libcap-devel \
+  urdfdom \
+  urdfdom-devel \
+  python3-colcon-common-extensions \
+  python3-mypy \
+  python3-pip \
+  python3-pydocstyle \
+  python3-pytest \
+  python3-pytest-repeat \
+  python3-pytest-rerunfailures \
+  python3-rosdep \
+  python3-rosinstall_generator \
+  python3-rospkg \
+  python3-setuptools \
+  python3-vcstool \
+  wget \
+  && dnf clean all
+
+# install some pip packages needed for testing and
+# not available as RPMs
+# use the same versions as on Ubuntu Jammy
+RUN python3 -m pip install --no-cache-dir -U --user \
+  flake8==4.0.1 \
+  pyflakes==2.4.0 \
+  flake8-blind-except==0.1.1 \
+  flake8-class-newline \
+  flake8-deprecated \
+  colcon-mixin
+
+# install ros-base
+ENV ROS_DISTRO=${ROS_DISTRO}
+RUN dnf install -y \
+    ros-${ROS_DISTRO}-ros-base \
+    ros-${ROS_DISTRO}-backward-ros \
+    ros-${ROS_DISTRO}-pal-statistics \
+    ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
+    ros-${ROS_DISTRO}-sdformat-urdf \
+    ros-${ROS_DISTRO}-xacro \
+  && rosdep init \
+  && dnf clean all
+
+# install cmake 3.22.1 (the same version as Ubuntu Jammy default). Needed for RSL
+WORKDIR /usr
+RUN \
+  wget --progress=dot:giga https://github.com/Kitware/CMake/releases/download/v3.22.1/cmake-3.22.1-linux-x86_64.tar.gz && \
+  tar --strip-components=1 -xzf cmake-3.22.1-linux-x86_64.tar.gz  && \
+  rm cmake-3.22.1-linux-x86_64.tar.gz
+
+# setup colcon mixin and metadata
+RUN colcon mixin add default \
+  https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml && \
+  colcon mixin update && \
+  colcon metadata add default \
+  https://raw.githubusercontent.com/colcon/colcon-metadata-repository/master/index.yaml && \
+  colcon metadata update
+
+# build generate_parameter_library and other deps from source
+ENV ROS2_WS=/opt/ros2_ws
+ARG SOURCE_PACKAGES=""
+WORKDIR $ROS2_WS
+RUN \
+  . /opt/ros/$ROS_DISTRO/setup.sh && \
+  if [ -n "$SOURCE_PACKAGES" ]; then \
+    for i in {1..5}; do \
+      rosinstall_generator $SOURCE_PACKAGES --rosdistro $ROS_DISTRO \
+        > deps.repos && break || echo "retry #${i} .." && sleep 60; \
+    done && \
+    mkdir -p src && \
+    vcs import src < deps.repos && \
+    rosdep update --rosdistro $ROS_DISTRO && \
+    rosdep install -iyr --from-path src ; \
+  fi && \
+  colcon build \
+  --mixin release build-testing-off \
+  --cmake-args --no-warn-unused-cli --packages-skip pinocchio && \
+  # build pinocchio from source
+  colcon build \
+    --mixin release build-testing-off \
+    --cmake-args --no-warn-unused-cli -DBUILD_EXAMPLES=OFF -DBUILD_PYTHON_INTERFACE=OFF \
+    --packages-select pinocchio && \
+  # cleanup
+  rm -rf log src build
+
+# add default.yaml to the image
+COPY defaults.yaml /root/.colcon/defaults.yaml
+
+# there is no python3-graphviz on rhel9, so install it via pip
+RUN pip3 install --no-cache-dir graphviz
+
+# Setup entrypoint (sourcing of ROS)
+COPY ./ros_entrypoint.sh /
+RUN chmod +x /ros_entrypoint.sh
+ENTRYPOINT [ "/ros_entrypoint.sh" ]
+CMD ["bash"]