Adding a docker file to help test for missing package.xml dependencies (#606)

* Adding a dockerfile that builds all of ROS2 in a single workspace.

This catches missing dependencies in the package.xml files.

* Adding some comments on choice of docker starting image.

* Adding pre-release checklist.

* Removing unneeded build code

* Update to dashing branches.

* Change name to better reflect reality

* Make full_build dockerfile configurable

* ARG before FROM doesn't propogate to lines after FROM

* Updating docs and addressing review content

* More doc fixes.

* Fixing review comments

Dockerfile

@@ -5,16 +5,6 @@
 # docker build -t nav2:latest --build-arg CMAKE_BUILD_TYPE ./
 FROM osrf/ros2:nightly
 
-# install ROS2 dependencies
-RUN apt-get update && apt-get install -q -y \
-      build-essential \
-      cmake \
-      git \
-      python3-colcon-common-extensions \
-      python3-vcstool \
-      wget \
-    && rm -rf /var/lib/apt/lists/*
-
 # copy ros package repo
 ENV NAV2_WS /opt/nav2_ws
 RUN mkdir -p $NAV2_WS/src

Dockerfile.full_ros_build

+# This dockerfile expects proxies to be set via --build-arg if needed
+# It also expects to be contained in the /navigation2 root folder for file copy
+#
+# Example build command:
+# export CMAKE_BUILD_TYPE=Debug
+# export BUILD_SYSTEM_TESTS=False
+#
+# This determines which version of the ROS2 code base to pull
+# export ROS2_BRANCH=master
+#
+# This determines which ros2 docker image to use as a base for getting ros2_dependencies
+# The latest (osrf/ros2:nightly) is usually the best choice unless a dependency
+# has been removed that an older codebase depends on. In those cases, using
+# ros:DISTRO-ros-core would be a good choice where distro is crystal, dashing, etc.
+# export ROS2_DOCKER_IMAGE=osrf/ros2:nightly
+# docker build -t nav2:full_ros_build --build-arg BUILD_SYSTEM_TESTS
+#   --build-arg CMAKE_BUILD_TYPE -f Dockerfile.full_ros_build ./
+
+# We're only building on top of a ROS docker image to get the basics
+# prerequisites installed such as the apt source, rosdep, etc. We don't want to
+# actually use any of the ros dashing packages. Instead we are going to build
+# everything from source in one big workspace.
+ARG ROS2_DOCKER_BRANCH=osrf/ros2:nightly
+FROM $ROS2_DOCKER_BRANCH
+
+# install ROS2 dependencies
+RUN apt-get update && apt-get install -q -y \
+      wget \
+      libasio-dev \
+    && rm -rf /var/lib/apt/lists/*
+
+# setup directory structure
+ENV ROS2_WS /opt/ros2_ws
+RUN mkdir -p $ROS2_WS/src
+WORKDIR $ROS2_WS
+
+# clone ROS 2 packages
+
+ARG ROS2_BRANCH=master
+RUN wget https://raw.githubusercontent.com/ros2/ros2/$ROS2_BRANCH/ros2.repos
+RUN vcs import src < ros2.repos
+
+# copy nav 2 source code
+ENV NAV2_DIR $ROS2_WS/src/navigation2
+COPY ./ src/navigation2/
+
+# clone dependency package repos
+ENV NAV2_DEPS_DIR $ROS2_WS/src/navigation2_dependencies
+RUN mkdir -p $NAV2_DEPS_DIR
+RUN vcs import src < $NAV2_DIR/tools/ros2_dependencies.repos
+
+# delete nav2_system_tests/COLCON_IGNORE before running rosdep, otherwise it
+# doesn't install nav2_system_tests dependencies.
+ARG BUILD_SYSTEM_TESTS=True
+RUN if [ "$BUILD_SYSTEM_TESTS" = "True" ] ; then \
+        rm $NAV2_DIR/nav2_system_tests/COLCON_IGNORE ; \
+        echo "Building of system tests enabled" ; \
+    fi
+
+
+# install package dependencies
+RUN apt-get update && \
+    rosdep install -q -y \
+      --from-paths \
+        $ROS2_WS/src \
+        src \
+      --ignore-src --skip-keys rti-connext-dds-5.3.1 \
+    && rm -rf /var/lib/apt/lists/*
+
+# build entire workspace
+ARG CMAKE_BUILD_TYPE=Debug
+RUN colcon build \
+      --symlink-install \
+      --cmake-args \
+        -DCMAKE_BUILD_TYPE=$CMAKE_BUILD_TYPE \

Dockerfile.crystal → Dockerfile.release_branch

@@ -4,20 +4,13 @@
 # Example build command:
 # export CMAKE_BUILD_TYPE=Debug
 # export BUILD_SYSTEM_TESTS=False
-# docker build -t nav2:crystal --build-arg BUILD_SYSTEM_TESTS
-#   --build-arg CMAKE_BUILD_TYPE -f Dockerfile.crystal ./
+# docker build -t nav2:release_branch --build-arg ROS2_BRANCH=dashing \
+#  --build-arg BUILD_SYSTEM_TESTS #   --build-arg CMAKE_BUILD_TYPE \
+#  -f Dockerfile.release_branch ./
 
-FROM ros:crystal
+ARG ROS2_BRANCH=dashing
 
-# install ROS2 dependencies
-RUN apt-get update && apt-get install -q -y \
-      build-essential \
-      cmake \
-      git \
-      python3-colcon-common-extensions \
-      python3-vcstool \
-      wget \
-    && rm -rf /var/lib/apt/lists/*
+FROM ros:$ROS2_BRANCH
 
 # copy ros package repo
 ENV NAV2_WS /opt/nav2_ws

doc/process/PreReleaseChecklist.md

+# Pre Release Checklist
+
+This documents the steps to be taken prior to making a new release of the
+nav2 stack.
+
+## Summary
+1. `Ensure all dependencies are listed in the package.xml files` by doing a
+build of all of ROS2, dependencies, and navigation 2 in one workspace.
+
+2. `Ensure all dependencies are released.` by using rosdep to pull in dependencies instead of building them ourselves.
+
+3. `Ensure the test suite passes`
+
+## Detailed Steps
+
+### Ensure all dependencies are listed in the package.xml files
+
+We want to ensure that every package has a complete list of its dependencies
+in the `package.xml` file. This can be done by not sourcing any ros `setup.bash` files. Instead we need to build everything as one big repo.
+
+There is a docker file to do that, so run
+
+```bash
+sudo docker build -t nav2:full_ros_build --build-arg ROS2_BRANCH=dashing --build-arg http_proxy=http://myproxy.example.com:80  --build-arg https_proxy=http://myproxy.example.com:80 -f Dockerfile.full_ros_build ./
+```
+
+ROS2_BRANCH should be the release you are targeting or just `master` if you want
+to compare against ROS2 master.
+
+### Ensure all dependencies are released.
+
+We want to ensure the correct version of all our dependencies have been released
+to the branch we are targeting. To do that, we skip the
+`ros2_dependencies.repos` install step and rely solely on rosdep to install
+everything.
+
+There is a dockerfile to do that as well, so run
+
+```bash
+sudo docker build -t nav2:rosdep_only_build --build-arg ROS2_BRANCH=dashing --build-arg http_proxy=http://myproxy.example.com:80  --build-arg https_proxy=http://myproxy.example.com:80 -f Dockerfile.release_branch ./
+```
+
+As before, ROS2_BRANCH is the branch you are targeting. In this case, there is
+no master option. We can only run this dockerfile against a set of released
+packages.
+
+### Ensure the test suite passes
+
+Ensure the test suite passes in one of the docker images you just built.
+
+#### Crystal
+
+For the `crystal` release, run
+
+```bash
+sudo docker run nav2:crystal colcon test
+```
+
+#### Dashing and newer
+
+For newer releases, run
+
+```bash
+sudo docker run nav2:crystal src/navigation2/tools/run_test_suite.bash
+```