feat: Sync all workspaces with latest template

j3soon · j3soon · commit f3c017657f19 · 2025-10-08T09:00:12.000+08:00
diff --git a/aloha_ws/docker/Dockerfile b/aloha_ws/docker/Dockerfile
@@ -147,6 +147,13 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     git-extras \
     && sudo rm -rf /var/lib/apt/lists/*
 
+# Cartographer configuration
+ARG CARTOGRAPHER=NO
+COPY --chown=$USERNAME:$USERNAME \
+     modules/install_cartographer.sh /tmp/install_cartographer.sh
+RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+    /tmp/install_cartographer.sh && rm /tmp/install_cartographer.sh
+
 # TODO: Add more commands here
 
 # Install udevadm for later use
diff --git a/aloha_ws/docker/compose.yaml b/aloha_ws/docker/compose.yaml
@@ -42,6 +42,8 @@ services:
         # ISAAC_LAB_VERSION: "2.1.0"
         # TODO: Set Isaac ROS to "" if not using Isaac ROS
         # ISAAC_ROS: "YES"
+        # TODO: Set to "YES" if using Cartographer
+        # CARTOGRAPHER: "NO"
       cache_from:
         - j3soon/ros2-aloha-ws:buildcache-amd64
         - j3soon/ros2-aloha-ws:buildcache-arm64
diff --git a/delto_gripper_ws/docker/Dockerfile b/delto_gripper_ws/docker/Dockerfile
@@ -147,6 +147,13 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     git-extras \
     && sudo rm -rf /var/lib/apt/lists/*
 
+# Cartographer configuration
+ARG CARTOGRAPHER=NO
+COPY --chown=$USERNAME:$USERNAME \
+     modules/install_cartographer.sh /tmp/install_cartographer.sh
+RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+    /tmp/install_cartographer.sh && rm /tmp/install_cartographer.sh
+
 # TODO: Add more commands here
 
 # Install delto gripper dependencies
diff --git a/delto_gripper_ws/docker/compose.yaml b/delto_gripper_ws/docker/compose.yaml
@@ -42,6 +42,8 @@ services:
         # ISAAC_LAB_VERSION: "2.1.0"
         # TODO: Set Isaac ROS to "" if not using Isaac ROS
         # ISAAC_ROS: "YES"
+        # TODO: Set to "YES" if using Cartographer
+        # CARTOGRAPHER: "NO"
       cache_from:
         - j3soon/ros2-delto-gripper-ws:buildcache-amd64
         - j3soon/ros2-delto-gripper-ws:buildcache-arm64
diff --git a/gazebo_world_ws/docker/Dockerfile b/gazebo_world_ws/docker/Dockerfile
@@ -147,6 +147,13 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     git-extras \
     && sudo rm -rf /var/lib/apt/lists/*
 
+# Cartographer configuration
+ARG CARTOGRAPHER=NO
+COPY --chown=$USERNAME:$USERNAME \
+     modules/install_cartographer.sh /tmp/install_cartographer.sh
+RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+    /tmp/install_cartographer.sh && rm /tmp/install_cartographer.sh
+
 # TODO: Add more commands here
 COPY --chown=$USERNAME:$USERNAME \
      .bashrc /home/$USERNAME/.bashrc
diff --git a/gazebo_world_ws/docker/compose.yaml b/gazebo_world_ws/docker/compose.yaml
@@ -42,6 +42,8 @@ services:
         # ISAAC_LAB_VERSION: "2.1.0"
         # TODO: Set Isaac ROS to "" if not using Isaac ROS
         # ISAAC_ROS: "YES"
+        # TODO: Set to "YES" if using Cartographer
+        # CARTOGRAPHER: "NO"
       cache_from:
         - j3soon/ros2-gazebo-world-ws:buildcache-amd64
         - j3soon/ros2-gazebo-world-ws:buildcache-arm64
diff --git a/go2_ws/docker/Dockerfile b/go2_ws/docker/Dockerfile
@@ -147,6 +147,13 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     git-extras \
     && sudo rm -rf /var/lib/apt/lists/*
 
+# Cartographer configuration
+ARG CARTOGRAPHER=NO
+COPY --chown=$USERNAME:$USERNAME \
+     modules/install_cartographer.sh /tmp/install_cartographer.sh
+RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+    /tmp/install_cartographer.sh && rm /tmp/install_cartographer.sh
+
 # TODO: Add more commands here
 
 # Install ros packages
diff --git a/go2_ws/docker/compose.yaml b/go2_ws/docker/compose.yaml
@@ -42,6 +42,8 @@ services:
         # ISAAC_LAB_VERSION: "2.1.0"
         # TODO: Set Isaac ROS to "" if not using Isaac ROS
         # ISAAC_ROS: "YES"
+        # TODO: Set to "YES" if using Cartographer
+        # CARTOGRAPHER: "NO"
       cache_from:
         - j3soon/ros2-go2-ws:buildcache-amd64
         - j3soon/ros2-go2-ws:buildcache-arm64
diff --git a/h1_ws/docker/Dockerfile b/h1_ws/docker/Dockerfile
@@ -147,6 +147,13 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     git-extras \
     && sudo rm -rf /var/lib/apt/lists/*
 
+# Cartographer configuration
+ARG CARTOGRAPHER=NO
+COPY --chown=$USERNAME:$USERNAME \
+     modules/install_cartographer.sh /tmp/install_cartographer.sh
+RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+    /tmp/install_cartographer.sh && rm /tmp/install_cartographer.sh
+
 # TODO: Add more commands here
 COPY --chown=$USERNAME:$USERNAME \
      .bashrc /home/$USERNAME/.bashrc
diff --git a/h1_ws/docker/compose.yaml b/h1_ws/docker/compose.yaml
@@ -42,6 +42,8 @@ services:
         # ISAAC_LAB_VERSION: "2.1.0"
         # TODO: Set Isaac ROS to "" if not using Isaac ROS
         # ISAAC_ROS: "YES"
+        # TODO: Set to "YES" if using Cartographer
+        # CARTOGRAPHER: "NO"
       cache_from:
         - j3soon/ros2-h1-ws:buildcache-amd64
         - j3soon/ros2-h1-ws:buildcache-arm64
diff --git a/husky_ws/docker/Dockerfile b/husky_ws/docker/Dockerfile
@@ -147,6 +147,13 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     git-extras \
     && sudo rm -rf /var/lib/apt/lists/*
 
+# Cartographer configuration
+ARG CARTOGRAPHER=NO
+COPY --chown=$USERNAME:$USERNAME \
+     modules/install_cartographer.sh /tmp/install_cartographer.sh
+RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+    /tmp/install_cartographer.sh && rm /tmp/install_cartographer.sh
+
 # TODO: Add more commands here
 RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     sudo apt-get update && sudo apt-get install -y \
diff --git a/husky_ws/docker/compose.yaml b/husky_ws/docker/compose.yaml
@@ -42,6 +42,8 @@ services:
         # ISAAC_LAB_VERSION: "2.1.0"
         # TODO: Set Isaac ROS to "" if not using Isaac ROS
         # ISAAC_ROS: "YES"
+        # TODO: Set to "YES" if using Cartographer
+        # CARTOGRAPHER: "NO"
       cache_from:
         - j3soon/ros2-husky-ws:buildcache-amd64
         - j3soon/ros2-husky-ws:buildcache-arm64
diff --git a/kobuki_ws/docker/Dockerfile b/kobuki_ws/docker/Dockerfile
@@ -147,6 +147,13 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     git-extras \
     && sudo rm -rf /var/lib/apt/lists/*
 
+# Cartographer configuration
+ARG CARTOGRAPHER=NO
+COPY --chown=$USERNAME:$USERNAME \
+     modules/install_cartographer.sh /tmp/install_cartographer.sh
+RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+    /tmp/install_cartographer.sh && rm /tmp/install_cartographer.sh
+
 # TODO: Add more commands here
 RUN if [ "$TARGETARCH" = "arm64" ]; then \
         # Fix the issue of Eigen
diff --git a/kobuki_ws/docker/compose.yaml b/kobuki_ws/docker/compose.yaml
@@ -42,6 +42,8 @@ services:
         # ISAAC_LAB_VERSION: "2.1.0"
         # TODO: Set Isaac ROS to "" if not using Isaac ROS
         # ISAAC_ROS: "YES"
+        # TODO: Set to "YES" if using Cartographer
+        # CARTOGRAPHER: "NO"
       cache_from:
         - j3soon/ros2-kobuki-ws:buildcache-amd64
         - j3soon/ros2-kobuki-ws:buildcache-arm64
diff --git a/orbslam3_ws/docker/Dockerfile b/orbslam3_ws/docker/Dockerfile
@@ -147,6 +147,13 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     git-extras \
     && sudo rm -rf /var/lib/apt/lists/*
 
+# Cartographer configuration
+ARG CARTOGRAPHER=NO
+COPY --chown=$USERNAME:$USERNAME \
+     modules/install_cartographer.sh /tmp/install_cartographer.sh
+RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+    /tmp/install_cartographer.sh && rm /tmp/install_cartographer.sh
+
 # TODO: Add more commands here
 RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     sudo apt-get update && sudo apt-get install -y \
diff --git a/orbslam3_ws/docker/compose.yaml b/orbslam3_ws/docker/compose.yaml
@@ -42,6 +42,8 @@ services:
         # ISAAC_LAB_VERSION: "2.1.0"
         # TODO: Set Isaac ROS to "" if not using Isaac ROS
         # ISAAC_ROS: "YES"
+        # TODO: Set to "YES" if using Cartographer
+        # CARTOGRAPHER: "NO"
       cache_from:
         - j3soon/ros2-orbslam3-ws:buildcache-amd64
         - j3soon/ros2-orbslam3-ws:buildcache-arm64
diff --git a/rtabmap_ws/docker/Dockerfile b/rtabmap_ws/docker/Dockerfile
@@ -147,6 +147,13 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     git-extras \
     && sudo rm -rf /var/lib/apt/lists/*
 
+# Cartographer configuration
+ARG CARTOGRAPHER=NO
+COPY --chown=$USERNAME:$USERNAME \
+     modules/install_cartographer.sh /tmp/install_cartographer.sh
+RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+    /tmp/install_cartographer.sh && rm /tmp/install_cartographer.sh
+
 # TODO: Add more commands here
 RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     sudo apt-get update && sudo apt-get install -y \
diff --git a/rtabmap_ws/docker/compose.yaml b/rtabmap_ws/docker/compose.yaml
@@ -42,6 +42,8 @@ services:
         # ISAAC_LAB_VERSION: "2.1.0"
         # TODO: Set Isaac ROS to "" if not using Isaac ROS
         # ISAAC_ROS: "YES"
+        # TODO: Set to "YES" if using Cartographer
+        # CARTOGRAPHER: "NO"
       cache_from:
         - j3soon/ros2-rtabmap-ws:buildcache-amd64
         - j3soon/ros2-rtabmap-ws:buildcache-arm64
diff --git a/tests/diff_base/docker/Dockerfile b/tests/diff_base/docker/Dockerfile
@@ -147,6 +147,13 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     git-extras \
     && sudo rm -rf /var/lib/apt/lists/*
 
+# Cartographer configuration
+ARG CARTOGRAPHER=NO
+COPY --chown=$USERNAME:$USERNAME \
+     modules/install_cartographer.sh /tmp/install_cartographer.sh
+RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+    /tmp/install_cartographer.sh && rm /tmp/install_cartographer.sh
+
 # TODO: Add more commands here
 {PLACEHOLDER_MULTILINE}
 COPY --chown=$USERNAME:$USERNAME \
diff --git a/tests/diff_base/docker/compose.yaml b/tests/diff_base/docker/compose.yaml
@@ -42,6 +42,8 @@ services:
         # ISAAC_LAB_VERSION: "2.1.0"
         # TODO: Set Isaac ROS to "" if not using Isaac ROS
         # ISAAC_ROS: "YES"
+        # TODO: Set to "YES" if using Cartographer
+        {PLACEHOLDER_#}CARTOGRAPHER: "{PLACEHOLDER}"
       cache_from:
         - j3soon/ros2-{PLACEHOLDER}-ws:buildcache-amd64
         - j3soon/ros2-{PLACEHOLDER}-ws:buildcache-arm64
diff --git a/turtlebot3_ws/docker/Dockerfile b/turtlebot3_ws/docker/Dockerfile
@@ -147,6 +147,13 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     git-extras \
     && sudo rm -rf /var/lib/apt/lists/*
 
+# Cartographer configuration
+ARG CARTOGRAPHER=NO
+COPY --chown=$USERNAME:$USERNAME \
+     modules/install_cartographer.sh /tmp/install_cartographer.sh
+RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+    /tmp/install_cartographer.sh && rm /tmp/install_cartographer.sh
+
 # TODO: Add more commands here
 
 # Install TurtleBot3 dependencies
diff --git a/turtlebot3_ws/docker/compose.yaml b/turtlebot3_ws/docker/compose.yaml
@@ -42,6 +42,8 @@ services:
         # ISAAC_LAB_VERSION: "2.1.0"
         # TODO: Set Isaac ROS to "" if not using Isaac ROS
         # ISAAC_ROS: "YES"
+        # TODO: Set to "YES" if using Cartographer
+        # CARTOGRAPHER: "NO"
       cache_from:
         - j3soon/ros2-turtlebot3-ws:buildcache-amd64
         - j3soon/ros2-turtlebot3-ws:buildcache-arm64
diff --git a/vlp_ws/docker/Dockerfile b/vlp_ws/docker/Dockerfile
@@ -147,6 +147,13 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
     git-extras \
     && sudo rm -rf /var/lib/apt/lists/*
 
+# Cartographer configuration
+ARG CARTOGRAPHER=NO
+COPY --chown=$USERNAME:$USERNAME \
+     modules/install_cartographer.sh /tmp/install_cartographer.sh
+RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+    /tmp/install_cartographer.sh && rm /tmp/install_cartographer.sh
+
 # TODO: Add more commands here
 
 # Install ROS2 and Gazebo simulation packages when using `amd64` platform
diff --git a/vlp_ws/docker/compose.yaml b/vlp_ws/docker/compose.yaml
@@ -42,6 +42,8 @@ services:
         # ISAAC_LAB_VERSION: "2.1.0"
         # TODO: Set Isaac ROS to "" if not using Isaac ROS
         # ISAAC_ROS: "YES"
+        # TODO: Set to "YES" if using Cartographer
+        # CARTOGRAPHER: "NO"
       cache_from:
         - j3soon/ros2-vlp-ws:buildcache-amd64
         - j3soon/ros2-vlp-ws:buildcache-arm64
