DRAFT: Build Navigation Image

[adriandavidauer]

Here I added a local copy of mapdesc_ros under lib/ for building the image with the code that is already here.

After publication of Map Desc we should use submodules here

[adriandavidauer]

I can build the image only for AMD64 at the moment.

[adriandavidauer]

I can start the image but the mapdesc service can not be started because apparently mapdesc is not installed:

1767444936.4264100 [mapdesc_service-2] Traceback (most recent call last):
1767444936.4267244 [mapdesc_service-2]   File "/root/colcon_ws/install/mapdesc_ros/lib/mapdesc_ros/mapdesc_service", line 33, in <module>
1767444936.4277971 [mapdesc_service-2]     sys.exit(load_entry_point('mapdesc-ros==0.0.1', 'console_scripts', 'mapdesc_service')())
1767444936.4284611 [mapdesc_service-2]              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
1767444936.4286687 [mapdesc_service-2]   File "/root/colcon_ws/install/mapdesc_ros/lib/mapdesc_ros/mapdesc_service", line 25, in importlib_load_entry_point
1767444936.4288034 [mapdesc_service-2]     return next(matches).load()
1767444936.4289279 [mapdesc_service-2]            ^^^^^^^^^^^^^^^^^^^^
1767444936.4290743 [mapdesc_service-2]   File "/usr/lib/python3.12/importlib/metadata/__init__.py", line 205, in load
1767444936.4296386 [mapdesc_service-2]     module = import_module(match.group('module'))
1767444936.4298198 [mapdesc_service-2]              ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
1767444936.4299762 [mapdesc_service-2]   File "/usr/lib/python3.12/importlib/__init__.py", line 90, in import_module
1767444936.4304719 [mapdesc_service-2]     return _bootstrap._gcd_import(name[level:], package, level)
1767444936.4311423 [mapdesc_service-2]            ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
1767444936.4316111 [mapdesc_service-2]   File "<frozen importlib._bootstrap>", line 1387, in _gcd_import
1767444936.4319279 [mapdesc_service-2]   File "<frozen importlib._bootstrap>", line 1360, in _find_and_load
1767444936.4322741 [mapdesc_service-2]   File "<frozen importlib._bootstrap>", line 1331, in _find_and_load_unlocked
1767444936.4324944 [mapdesc_service-2]   File "<frozen importlib._bootstrap>", line 935, in _load_unlocked
1767444936.4327064 [mapdesc_service-2]   File "<frozen importlib._bootstrap_external>", line 995, in exec_module
1767444936.4328749 [mapdesc_service-2]   File "<frozen importlib._bootstrap>", line 488, in _call_with_frames_removed
1767444936.4331036 [mapdesc_service-2]   File "/root/colcon_ws/install/mapdesc_ros/lib/python3.12/site-packages/mapdesc_ros/node.py", line 5, in <module>
1767444936.4332936 [mapdesc_service-2]     from mapdesc.load.yaml import load_yaml
1767444936.4334941 [mapdesc_service-2] ModuleNotFoundError: No module named 'mapdesc'
1767444936.4688127 [ERROR] [mapdesc_service-2]: process has died [pid 31, exit code 1, cmd '/root/colcon_ws/install/mapdesc_ros/lib/mapdesc_ros/mapdesc_service --ros-args -r __node:=mapdesc_node --params-file /tmp/launch_params_i4iz4k61'].

I also opened an issue in the mapdesc_ros gitlab: https://git.hb.dfki.de/robot-config/map-tools/mapdesc_ros/-/issues/6

I came only this far :(