Update install and runtime support across Ubuntu versions

Dockerfile

@@ -19,9 +19,11 @@ COPY ./atos_gui/requirements.txt ./atos_gui/requirements.txt
 COPY ./atos_gui/package.xml ./atos_gui/package.xml
 COPY ./atos_interfaces/package.xml ./atos_interfaces/package.xml
 COPY ./atos/package.xml ./atos/package.xml
-
-RUN --mount=type=cache,target=/var/cache/apt \ 
-        ./scripts/installation/install_deps.sh ${REPO_DIR}
 COPY . .
-RUN ./scripts/installation/install_atos.sh ${REPO_DIR}
-WORKDIR /root/atos_ws
+RUN --mount=type=cache,target=/var/cache/apt \
+        ./setup_atos.sh
+    WORKDIR /root/atos_ws
+
+EXPOSE 8420 8765 9090 8114
+
+CMD ["/bin/bash", "-lc", "/root/atos_git/scripts/run_atosfleetmanagement.sh"]

docker-compose-bridge.yml

@@ -28,12 +28,12 @@ services:
       - "9090:9090"
       - "8765:8765"
       - "8000:8000"
-    command: bash -c "source /root/atos_ws/install/setup.sh ; ros2 launch atos launch_basic.py insecure:=True"
+    command: bash -c "source /root/.local/share/atos/venv/bin/activate ; source /root/atos_ws/install/setup.sh ; ros2 launch atos launch_basic.py insecure:=True"
   foxglove-studio:
     image: ghcr.io/foxglove/studio:1.76
     networks:
       - atos-net
     ports:
       - 8080:8080
     volumes:
-      - ./plugins/foxglove/Map, 3D and control layout.json:/foxglove/default-layout.json
+      - ./plugins/foxglove/Map, 3D and control layout.json:/foxglove/default-layout.json

docker-compose-test.yml

@@ -15,7 +15,7 @@ services:
       - ./conf/conf/:/root/.astazero/ATOS/conf
       - ./conf/odr/:/root/.astazero/ATOS/odr
       - ./conf/osc/:/root/.astazero/ATOS/osc
-    command: bash -c "source /root/atos_ws/install/setup.sh ; python3 -m pytest /root/atos_ws/src/atos/scripts/integration_testing/run_scenario_test.py"
+    command: bash -c "source /root/.local/share/atos/venv/bin/activate ; source /root/atos_ws/install/setup.sh ; python3 -m pytest /root/atos_ws/src/atos/scripts/integration_testing/run_scenario_test.py"
   isoObject:
     image: astazero/iso_object_demo:latest
     networks:

docker-compose.yml

@@ -14,9 +14,9 @@ services:
     volumes:
       - ~/.astazero/ATOS/:/root/.astazero/ATOS/
     network_mode: "host"
-    command: bash -c "source /root/atos_ws/install/setup.sh ; ros2 launch atos launch_basic.py insecure:=True"
+    command: bash -c "source /root/.local/share/atos/venv/bin/activate ; source /root/atos_ws/install/setup.sh ; ros2 launch atos launch_basic.py insecure:=True"
   foxglove-studio:
     image: ghcr.io/foxglove/studio:1.76
     network_mode: "host"
     volumes:
-      - ./plugins/foxglove/Map, 3D and control layout.json:/foxglove/default-layout.json
+      - ./plugins/foxglove/Map, 3D and control layout.json:/foxglove/default-layout.json

scripts/installation/dependencies.txt

@@ -11,6 +11,7 @@
     gnupg2
     lsb-release
     python3-pip
+    python3-openssl
     proj-bin
     clang
     libstdc++-12-dev

scripts/installation/install_atos.sh

@@ -13,6 +13,21 @@ ATOS_REPO_PATH="$1"
 source "${ATOS_REPO_PATH}/scripts/installation/install_functions.sh"
 check_command_failed $? "Failed to source ${ATOS_REPO_PATH}/scripts/installation/install_functions.sh"
 
+ROS_DISTRO="${ROS_DISTRO:-$(get_supported_ros_distro)}"
+check_command_failed $? "Failed to determine ROS 2 distribution for this Ubuntu release."
+ATOS_VENV_PATH="$(get_atos_venv_path)"
+
+if [ -z "${ROS_DISTRO}" ]; then
+    echo "Failed to determine a supported ROS 2 distribution for this Ubuntu release."
+    exit 1
+fi
+
+if [ ! -f "${ATOS_VENV_PATH}/bin/activate" ]; then
+    echo "ATOS Python virtual environment was not found at ${ATOS_VENV_PATH}."
+    echo "Run setup_atos.sh again to recreate Python dependencies."
+    exit 1
+fi
+
 ################################################
 ############## Install ATOS ####################
 ################################################
@@ -32,12 +47,18 @@ echo "Dependecy installation done and ATOS workspace created."
 # First make sure the submodules are up to date
 echo "Updating submodules to make sure they are up to date..."
 cd $HOME/atos_ws/src/atos
-git submodule update --init --recursive
+if command -v git >/dev/null 2>&1 && git rev-parse --is-inside-work-tree >/dev/null 2>&1; then
+    git submodule update --init --recursive
+else
+    echo "Skipping submodule update: source tree is not a git repository in this environment."
+fi
 cd -
 
 # temporarily cd into the workspace and build with colcon
 echo "Building ATOS..."
 cd $HOME/atos_ws
+# shellcheck disable=SC1090
+source "${ATOS_VENV_PATH}/bin/activate"
 source /opt/ros/$ROS_DISTRO/setup.bash
 MAKEFLAGS=-j4 colcon build --symlink-install --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON
 check_command_failed $? "Failed to build ATOS."
@@ -47,20 +68,28 @@ cd -
 ###### Configure setup scripts ######
 #####################################
 
+atos_venv_setup_script="source $ATOS_VENV_PATH/bin/activate"
+atos_python_site_packages="$(python -c 'import site; print(site.getsitepackages()[0])')"
+check_command_failed $? "Failed to determine ATOS Python site-packages path."
+atos_pythonpath_script="export PYTHONPATH=$atos_python_site_packages:\$PYTHONPATH"
 atos_setup_script="source $HOME/atos_ws/install/setup."
 ros2_setup_script="source /opt/ros/$ROS_DISTRO/setup."
 
 case "$SHELL" in
     */bash)
+        add_source_line_if_needed $HOME/.bashrc "bash" "${atos_venv_setup_script}"
+        add_source_line_if_needed $HOME/.bashrc "bash" "${atos_pythonpath_script}"
         add_source_line_if_needed $HOME/.bashrc "bash" "${ros2_setup_script}"
         add_source_line_if_needed $HOME/.bashrc "bash" "${atos_setup_script}"
     ;;
     */zsh)
+        add_source_line_if_needed $HOME/.zshrc "zsh" "${atos_venv_setup_script}"
+        add_source_line_if_needed $HOME/.zshrc "zsh" "${atos_pythonpath_script}"
         add_source_line_if_needed $HOME/.zshrc "zsh" "${ros2_setup_script}"
         add_source_line_if_needed $HOME/.zshrc "zsh" "${atos_setup_script}"
     ;;
     *)
         echo "Unsupported shell detected! Please use either bash or zsh shells to run ATOS"
         exit 1
     ;;
-esac
+esac

scripts/installation/install_deps.sh

@@ -24,16 +24,62 @@ if [ -z "${ROS_DISTRO:-}" ]; then
     exit 1
 fi
 
-PIP_INSTALL_CMD=(python3 -m pip install)
-if python3 -m pip help install 2>/dev/null | grep -q -- "--break-system-packages"; then
-    PIP_INSTALL_CMD+=(--break-system-packages)
-fi
+ATOS_VENV_PATH="$(get_atos_venv_path)"
+apt_update_retry() {
+    local attempts=5
+    local delay=5
+    local i=1
+    while [ "$i" -le "$attempts" ]; do
+        if sudo apt-get update; then
+            return 0
+        fi
+        echo "apt update failed (attempt ${i}/${attempts}); cleaning apt cache and retrying..."
+        sudo apt-get clean
+        sudo rm -rf /var/lib/apt/lists/*
+        sleep "$delay"
+        i=$((i + 1))
+    done
+    return 1
+}
+
+apt_install_retry() {
+    local attempts=3
+    local delay=5
+    local i=1
+    while [ "$i" -le "$attempts" ]; do
+        if sudo apt-get install -y "$@"; then
+            return 0
+        fi
+        echo "apt install failed (attempt ${i}/${attempts}); retrying..."
+        sleep "$delay"
+        i=$((i + 1))
+    done
+    return 1
+}
 
 # Update and install required dependencies specified in dependencies.txt and requirements.txt file
 apt_deps=$(cat ${ATOS_REPO_PATH}/scripts/installation/dependencies.txt | tr '\n' ' ')
 echo "Installing dependencies... $apt_deps"
-sudo apt update && sudo apt install -y ${apt_deps}
-"${PIP_INSTALL_CMD[@]}" -r ${ATOS_REPO_PATH}/scripts/installation/requirements.txt
+apt_update_retry
+apt_install_retry ${apt_deps}
+apt_install_retry python3-pip
+apt_install_retry python3-venv
+
+if [ -d "${ATOS_VENV_PATH}" ] && [ "$REINSTALL" = true ]; then
+    echo "Removing existing ATOS Python virtual environment at ${ATOS_VENV_PATH}..."
+    rm -rf "${ATOS_VENV_PATH}"
+fi
+
+if [ ! -f "${ATOS_VENV_PATH}/bin/activate" ]; then
+    echo "Creating ATOS Python virtual environment at ${ATOS_VENV_PATH}..."
+    mkdir -p "$(dirname "${ATOS_VENV_PATH}")"
+    # ROS Python tooling depends on distro packages such as `empy` being importable
+    # while the ATOS venv is active during colcon builds.
+    python3 -m venv --system-site-packages "${ATOS_VENV_PATH}"
+fi
+
+"${ATOS_VENV_PATH}/bin/python" -m pip install --upgrade pip
+"${ATOS_VENV_PATH}/bin/python" -m pip install -r ${ATOS_REPO_PATH}/scripts/installation/requirements.txt
 
 # Check if apt failed to install dependencies
 check_command_failed $? "Failed to install dependencies."
@@ -46,7 +92,8 @@ if ! (apt list | grep -q "ros-$ROS_DISTRO-desktop"); then
     echo "Adding the ROS2 $ROS_DISTRO apt repository..."
 
     # Install ROS2 prerequisites
-    sudo apt update && sudo apt install -y lsb-release ros-dev-tools
+    apt_update_retry
+    apt_install_retry lsb-release ros-dev-tools
 
     # Authorize the ROS2 gpg key with apt
     sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \
@@ -60,7 +107,8 @@ fi
 
 # Install ROS2 packages
 echo "Installing ROS2 packages..."
-sudo apt install -y \
+apt_update_retry
+apt_install_retry \
     ros-${ROS_DISTRO}-desktop \
     python3-rosdep \
     ros-${ROS_DISTRO}-launch-pytest
@@ -75,7 +123,7 @@ check_command_failed $? "Failed to install ROS2 dependencies."
 ######## Install ATOS GUI dependencies ########
 ###############################################
 
-"${PIP_INSTALL_CMD[@]}" -r ${ATOS_REPO_PATH}/atos_gui/requirements.txt 
+"${ATOS_VENV_PATH}/bin/python" -m pip install -r ${ATOS_REPO_PATH}/atos_gui/requirements.txt
 
 ###########################################
 ###### Install some deps from source ######

scripts/installation/install_functions.sh

@@ -3,7 +3,59 @@
 # Function to get Ubuntu distribution codename
 get_ubuntu_codename() {
     source /etc/os-release
-    echo $UBUNTU_CODENAME
+
+    if [ -n "${UBUNTU_CODENAME:-}" ]; then
+        echo "$UBUNTU_CODENAME"
+        return 0
+    fi
+
+    if [ -n "${VERSION_CODENAME:-}" ]; then
+        echo "$VERSION_CODENAME"
+        return 0
+    fi
+
+    case "${VERSION_ID:-}" in
+        "20.04"|"20")
+            echo "focal"
+        ;;
+        "22.04"|"22")
+            echo "jammy"
+        ;;
+        "24.04"|"24")
+            echo "noble"
+        ;;
+    esac
+}
+
+is_standard_ubuntu() {
+    source /etc/os-release
+    [ "${ID:-}" = "ubuntu" ]
+}
+
+is_ubuntu_core() {
+    source /etc/os-release
+    [ "${ID:-}" = "ubuntu-core" ]
+}
+
+get_supported_ros_distro() {
+    case "$(get_ubuntu_codename)" in
+        "focal")
+            echo "foxy"
+        ;;
+        "jammy")
+            echo "humble"
+        ;;
+        "noble")
+            echo "jazzy"
+        ;;
+        *)
+            return 1
+        ;;
+    esac
+}
+
+get_atos_venv_path() {
+    echo "$HOME/.local/share/atos/venv"
 }
 
 # Function that checks if command failed
@@ -39,12 +91,12 @@ update_symlink() {
 add_source_line_if_needed() {
     local file="$1"
     local shell_type="$2"
-    local source_line="$3$shell_type"
+    local source_line="$3"
 
-    if [ ! grep -qF "$source_line" "$file" ]; then
-        # Ask the user if they want to add the source line.
-        # First check for noninteractive shell with DEBAIN_FRONTEND=noninteractive
-        if [ -z "$DEBIAN_FRONTEND" && ! -z $GITHUB_ACTION ]; then
+    if ! grep -qF "$source_line" "$file"; then
+        # Ask the user only for interactive local shells.
+        # In non-interactive environments (e.g. CI), append automatically.
+        if [ -t 0 ] && [ -z "$DEBIAN_FRONTEND" ] && [ -z "$GITHUB_ACTION" ]; then
             echo "Do you want to add the following line to your $shell_type config file $file:"
             echo "$source_line"
             echo "y/n"
@@ -58,4 +110,4 @@ add_source_line_if_needed() {
             echo "$source_line" >> "$file"
         fi
     fi
-}
+}

setup_atos.sh

@@ -9,28 +9,38 @@ source "scripts/installation/install_functions.sh"
 # Get this file location
 REPO_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" &> /dev/null && pwd)"
 
-# Check if running on Ubuntu
-if ! grep -q "Ubuntu" /etc/os-release; then
-    echo "This script is designed for Ubuntu systems only."
+# Check if running on a supported Ubuntu variant
+if is_ubuntu_core; then
+    echo "Ubuntu Core is not supported for native ATOS installation."
+    echo "Use Docker instead, or run this script on Ubuntu 20.04, 22.04, or 24.04 with apt available."
     exit 1
 fi
 
-# Set ROS_DISTRO based on Ubuntu distribution
-case "$(get_ubuntu_codename)" in
-    "focal")
-    ;;
-    "jammy")
-    ;;
-    *)
-    echo "Unsupported Ubuntu distribution. Only 20.04 (focal) and 22.04 (jammy) are supported."
+if ! is_standard_ubuntu; then
+    echo "This script is designed for standard Ubuntu systems only."
     exit 1
-    ;;
-esac
+fi
+
+UBUNTU_CODENAME="$(get_ubuntu_codename)"
+ROS_DISTRO="$(get_supported_ros_distro)"
+
+if [ -z "${UBUNTU_CODENAME}" ] || [ -z "${ROS_DISTRO}" ]; then
+    echo "Unsupported Ubuntu distribution. Supported releases are 20.04 (focal), 22.04 (jammy), and 24.04 (noble)."
+    exit 1
+fi
+
+if ! command -v apt-get >/dev/null 2>&1; then
+    echo "apt-get is required for native ATOS installation but was not found on this system."
+    exit 1
+fi
+
+export ROS_DISTRO
 
 # Add -h/--help option
 if [ "$1" == "-h" ] || [ "$1" == "--help" ]; then
     echo "Usage: ./setup_atos.sh [single option]"
-    echo "This script will install all necessary dependencies, setup the ROS workspace at ~/atos_ws and install ATOS. Please open and inspect this script for further details."
+    echo "This script will install all necessary dependencies, setup the ROS workspace at ~/atos_ws and install ATOS."
+    echo "Supported native targets: Ubuntu 20.04 with ROS 2 Foxy, Ubuntu 22.04 with ROS 2 Humble, and Ubuntu 24.04 with ROS 2 Jazzy."
     echo "Options:"
     echo "  -h, --help      Show this help message and exit"
     echo "  -r              Reinstall dependencies"