DRAFT: Build Navigation Image

docker/Dockerfile

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+ARG ROS_DISTRO=jazzy
+FROM ros:${ROS_DISTRO}
+
+RUN apt update
+RUN apt install -y \
+    ros-${ROS_DISTRO}-navigation2 \
+    ros-${ROS_DISTRO}-nav2-bringup \
+    # ros-${ROS_DISTRO}-slam-toolbox \
+    # ros-${ROS_DISTRO}-nav2-amcl \
+    # ros-${ROS_DISTRO}-map-server \
+    # ros-${ROS_DISTRO}-robot-localization \
+    && rm -rf /var/lib/apt/lists/*
+
+
+ENV COLCON_WS=/root/colcon_ws
+ENV COLCON_WS_SRC=/root/colcon_ws/src
+
+COPY ./docker/entrypoint.bash /entrypoint.bash
+RUN chmod +x /entrypoint.bash
+ENTRYPOINT ["/entrypoint.bash"]
+
+
+
+COPY ./ ${COLCON_WS_SRC}/ricbot_navigation
+COPY ./lib/mapdesc_ros ${COLCON_WS_SRC}/mapdesc_ros
+
+##### mapdesc installation - this should be done automatically with colcon if deps are defined correctly, but for some reason it is not
+# RUN pip3 install -r  ${COLCON_WS_SRC}/mapdesc_ros/mapdesc/requirements.txt 
+
+# COPY ./lib/mapdesc_ros/mapdesc /opt/mapdesc
+# WORKDIR /opt/mapdesc
+# RUN pip3 install .
+#####
+
+RUN cd ${COLCON_WS}\
+    && . /opt/ros/${ROS_DISTRO}/setup.sh\
+    && colcon build --packages-select ricbot_navigation mapdesc_msgs mapdesc_ros
+
+CMD ["ros2", "launch", "ricbot_navigation", "ricbot_nav.launch.py"]

docker/entrypoint.bash

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+#!/bin/bash
+
+source /opt/ros/${ROS_DISTRO}/setup.sh
+source ${COLCON_WS}/install/setup.sh
+exec "$@"

lib/mapdesc_ros/.devcontainer/devcontainer.json

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+{
+    "name": "MapDesc",
+    "workspaceFolder": "/root/colcon_ws",
+    "dockerComposeFile": "../compose.yml",
+    "overrideCommand": true,
+    "service": "mapdesc_ros_dev",
+    "customizations":{
+        "vscode": {
+            "extensions": [
+                "MermaidChart.vscode-mermaid-chart",
+                "ms-python.python",
+                "ms-python.debugpy",
+                "ms-python.flake8",
+                "ms-vscode.cpptools",
+                "ms-vscode.cpptools-extension-pack",
+                "twxs.cmake"
+            ]
+        }
+    }
+}

lib/mapdesc_ros/.gitignore

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+__pycache__/
+*.pyc

lib/mapdesc_ros/.gitlab-ci.yml

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+image: d-reg.hb.dfki.de:5000/robot-config/ros-pip-pytest:humble-0.0.1
+
+variables:
+  GIT_SUBMODULE_STRATEGY: recursive
+
+stages:
+ - build
+ - test
+
+mapdesc_ros build:
+  stage: build
+  script:
+    - cd mapdesc
+    - pip3 install -r requirements.txt
+    - pip3 install .
+    - cd ..
+    - colcon build
+
+mapdesc_ros test:
+  stage: test
+  script:
+    - cd mapdesc
+    - pip3 install -r requirements.txt
+    - pip3 install .
+    - cd ..
+    - colcon build
+    - source ./install/setup.bash
+    # Basic Unit Tests
+    - colcon test --pytest-with-coverage --event-handlers console_cohesion+ --return-code-on-test-failure
+    # Integration tests
+    - launch_test mapdesc_ros/integration_tests/launch_testing/marker_launch_test.py
+  artifacts:
+    paths:
+      - build/mapdesc_ros/

lib/mapdesc_ros/.gitmodules

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+[submodule "mapdesc"]
+	path = mapdesc
+	url = ../mapdesc
+[submodule "mapdesc_msgs"]
+	path = mapdesc_msgs
+	url = ../mapdesc_msgs

lib/mapdesc_ros/Dockerfile

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+ARG ROS_DISTRO
+FROM d-reg.hb.dfki.de/robot-config/ros-pip-pytest:${ROS_DISTRO}-0.0.1
+
+ENV COLCON_WS=/root/colcon_ws
+ENV COLCON_WS_SRC=/root/colcon_ws/src
+
+COPY ./mapdesc/requirements.txt /tmp/requirements.txt
+RUN pip3 install -r /tmp/requirements.txt && rm /tmp/requirements.txt
+
+COPY ./mapdesc /opt/mapdesc
+WORKDIR /opt/mapdesc
+RUN pip3 install .
+
+WORKDIR ${COLCON_WS}
+COPY ./mapdesc_ros ${COLCON_WS_SRC}/mapdesc_ros
+COPY ./mapdesc_msgs ${COLCON_WS_SRC}/mapdesc_msgs
+RUN . /opt/ros/${ROS_DISTRO}/setup.sh && colcon build
+
+COPY ./run_tests.bash /run_tests.bash
+RUN chmod +x /run_tests.bash
+CMD [ "bash", "-c", "/run_tests.bash"]

lib/mapdesc_ros/Dockerfile-ros-pip-pytest

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+ARG ROS_DISTRO
+FROM ros:${ROS_DISTRO}
+
+RUN apt-get update -qq \
+    && apt-get install -y \
+    python3-pip \
+    python3-opencv \
+    ros-${ROS_DISTRO}-std-msgs \
+    ros-${ROS_DISTRO}-geometry-msgs \
+    ros-${ROS_DISTRO}-diagnostic-msgs \
+    ament-cmake \
+    && rm -rf /var/lib/apt/lists/*
+
+# we need to upgrade flake8 to supress a deprecation warning.
+RUN pip3 install --upgrade flake8 pytest-cov opencv-python

lib/mapdesc_ros/Dockerfile_dev

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+ARG ROS_DISTRO
+FROM d-reg.hb.dfki.de/robot-config/ros-pip-pytest:${ROS_DISTRO}-0.0.1
+
+ENV COLCON_WS=/root/colcon_ws
+ENV COLCON_WS_SRC=/root/colcon_ws/src
+
+COPY ./mapdesc/requirements.txt /tmp/requirements.txt
+RUN pip3 install -r /tmp/requirements.txt && rm /tmp/requirements.txt
+
+COPY ./mapdesc /opt/mapdesc
+WORKDIR /opt/mapdesc
+# For development we want to overwrite mapdesc from local
+RUN pip3 install -e .
+
+WORKDIR ${COLCON_WS}
+COPY ./mapdesc_ros ${COLCON_WS_SRC}/mapdesc_ros
+COPY ./mapdesc_msgs ${COLCON_WS_SRC}/mapdesc_msgs
+# For development we want to overwrite mapdesc_ros and mapdesc_msgs from local
+RUN . /opt/ros/${ROS_DISTRO}/setup.sh \
+    && colcon build --symlink-install
+
+COPY ./run_tests.bash /run_tests.bash
+RUN chmod +x /run_tests.bash
+CMD [ "bash", "-c", "/run_tests.bash"]

lib/mapdesc_ros/README.md

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+# MapDesc ROS 2 wrapper
+A lightweight ROS 2 wrapper for [mapdesc](../mapdesc/)
+
+This wrapper has been generated using ROSCrud
+
+# Unit testing
+see mapdesc_ros/test
+
+# Integration testing
+see https://github.com/ros2/launch/tree/master/launch_testing/

lib/mapdesc_ros/compose.yml

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+services:
+  mapdesc_ros:
+    image: d-reg.hb.dfki.de/robot-config/mapdesc_ros:humble-0.0.1
+    build:
+      context: .
+      dockerfile: Dockerfile
+      args:
+        ROS_DISTRO: humble
+
+  mapdesc_ros_dev:
+    # custom Dockerfile that installs without moving files 
+    # (so we can easily overwrite them from volumes for easier 
+    #  development with Dev Container)
+    build:
+      context: .
+      dockerfile: Dockerfile_dev
+      args:
+        ROS_DISTRO: humble
+    volumes:
+      - ./mapdesc:/opt/mapdesc:rw
+      - ./mapdesc_ros:/root/colcon_ws/src/mapdesc_ros:rw
+      - ./mapdesc_msgs:/root/colcon_ws/src/mapdesc_msgs:rw
+      - ./run_tests.bash:/root/colcon_ws/run_tests.bash:rw
+
+  ros_with_pip:
+    image: d-reg.hb.dfki.de/robot-config/ros-pip-pytest:humble-0.0.1
+    build:
+      context: .
+      dockerfile: Dockerfile-ros-pip-pytest
+      args:
+        ROS_DISTRO: humble

lib/mapdesc_ros/mapdesc/.coveragerc

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+[run]
+omit = mapdesc/cli.py

lib/mapdesc_ros/mapdesc/.devcontainer/devcontainer.json

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+{
+    "name": "MapDesc",
+    "workspaceFolder": "/app/",
+    "dockerComposeFile": "../compose.yml",
+    "overrideCommand": true,
+    "service": "mapdesc",
+    "customizations":{
+        "vscode": {
+            "extensions": [
+                "MermaidChart.vscode-mermaid-chart",
+                "ms-python.python",
+                "ms-python.debugpy",
+                "ms-python.flake8"
+            ]
+        }
+    }
+}

lib/mapdesc_ros/mapdesc/.gitignore

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+# python cache / pip
+*.egg-info/
+__pycache__/
+*.pyc
+build/
+
+# py.test
+.pytest_cache/
+
+# test coverage
+.coverage
+htmlcov/
+
+# cli test script
+/generated/*
+# OSM cache
+cache/

lib/mapdesc_ros/mapdesc/.gitlab-ci.yml

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+image: hdgigante/python-opencv:4.9.0-alpine
+
+stages:
+- build
+- test
+- deploy
+
+mapdesc build:
+  stage: build
+  script:
+    - pip3 install .
+
+mapdesc test:
+  stage: test
+  script:
+    - pip3 install .
+    - pip3 install pytest coverage
+    - python3 -m pytest
+    - coverage run --source mapdesc --omit=mapdesc/cli.py -m pytest .
+    - coverage report -m
+    - coverage html
+  artifacts:
+    paths:
+      - htmlcov/
+
+software_catalogue_entry:
+  image: d-reg.hb.dfki.de:5000/ubuntu:overview_generator
+  stage: deploy
+  script:
+  - apt update
+  - apt install -y wget
+  - wget http://bob.dfki.uni-bremen.de/software_overview/generate.sh
+  - sh generate.sh $CI_PROJECT_NAMESPACE $CI_PROJECT_NAME $CI_PROJECT_URL
+  only:
+  - main

lib/mapdesc_ros/mapdesc/CONTRIBUTING.md

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+# Contributing to *MapDesc*
+
+Please inform the maintainer as early as possible about your planned
+feature developments, extensions, or bugfixes that you are working on.
+An easy way is to open an issue or a pull request in which you explain
+what you are trying to do.
+
+## Pull Requests
+
+The preferred way to contribute to *MapDesc* is to fork the main repository on Gitlab, then submit a "pull request"
+(PR):
+
+1. Fork the [project repository](git@github.com:PROJECT_PATH):
+   click on the 'Fork' button near the top of the page. This creates a copy of
+   the code under your account on the Gitlab server.
+
+3. Clone this copy to your local disk:
+
+        $ git clone git@github.com:YourLogin/MapDesc.git
+
+4. Create a branch to hold your changes:
+
+        $ git checkout -b my-feature
+
+    and start making changes. Never work in the ``main`` branch!
+
+5. Work on this copy, on your computer, using Git to do the version
+   control. When you're done editing, do::
+
+        $ git add modified_files
+        $ git commit
+
+    to record your changes in Git, then push them to Gitlab with::
+
+       $ git push -u origin my-feature
+
+Finally, go to the web page of the your fork of the repo,
+and click 'Pull request' to send your changes to the maintainers for review.
+
+## Merge Policy
+
+Summary: maintainer can push minor changes directly, pull request + 1 reviewer for everything else.
+
+* Usually it is not possible to push directly to the `main` branch of WBC for anyone. Only tiny changes, urgent bugfixes, and maintenance commits can be pushed directly to the `main` branch by the maintainer without a review. "Tiny" means backwards compatibility is mandatory and all tests must succeed. No new feature must be added.
+
+* Developers have to submit pull requests. Those will be reviewed by at least one other developer and merged by the maintainer. New features must be documented and tested. Breaking changes must be discussed and announced in advance with deprecation warnings.
+
+* Any change of existing functionality requires that all unit tests must succeed. In addition, the [tutorials](https://github.com/PROJECT_PATH/doc/tutorials) should be executed and the results should be compared with the results obtained prior to making those changes. If the results differ, the changes should be reconsidered.
+
+* Adding new functionality requires the addition of unit tests. In pinciple, every class should be accompanied by at least one unit test that checks the common use case, and one unit tests that checks for the common error cases
+
+## Project Roadmap
+
+Check the [Issue Tracker](https://github.com/PROJECT_PATH/issues) for roadmap planning. 

lib/mapdesc_ros/mapdesc/LICENSE

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+BSD 3-Clause License
+
+Copyright (c) 2025, DFKI GmbH, Andreas Bresser
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.