chore: Add CI configuration

.github/workflows/build_base.yml

@@ -0,0 +1,54 @@
+name: Build and Publish Base Container
+
+on:
+  push:
+    branches: [ epic/next-gen-base ]
+    paths:
+      - 'docker/Dockerfile.base'
+      - 'docker/base.repos'
+  workflow_dispatch:
+
+env:
+  REGISTRY: ghcr.io
+  IMAGE_NAME: ${{ github.repository_owner }}/ros2_rust_base
+
+jobs:
+  build-and-push:
+    name: Build and Push ROS 2 Rust Base Image
+    runs-on: ubuntu-latest
+    permissions:
+      contents: read
+      packages: write
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Log in to the Container registry
+        uses: docker/login-action@v3
+        with:
+          registry: ${{ env.REGISTRY }}
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Extract metadata (tags, labels) for Docker
+        id: meta
+        uses: docker/metadata-action@v5
+        with:
+          images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}
+          tags: |
+            type=raw,value=jazzy
+
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+
+      - name: Build and push Docker image
+        uses: docker/build-push-action@v5
+        with:
+          context: .
+          file: ./docker/Dockerfile.base
+          push: ${{ github.event_name != 'pull_request' }}
+          tags: ${{ steps.meta.outputs.tags }}
+          labels: ${{ steps.meta.outputs.labels }}
+          cache-from: type=gha
+          cache-to: type=gha,mode=max

.github/workflows/ci.yml

@@ -0,0 +1,38 @@
+name: Next-Gen Prototype CI
+
+on:
+  push:
+    branches: [ epic/next-gen-base ]
+  pull_request:
+    branches: [ epic/next-gen-base ]
+
+jobs:
+  ci-check:
+    name: Colcon Overlay Build & Test Suite
+    runs-on: ubuntu-latest
+    container:
+      image: ghcr.io/open-rmf/ros2_rust_base:jazzy
+
+    steps:
+      - name: Checkout Prototype Repository
+        uses: actions/checkout@v4
+        with:
+          path: next_gen_ws/src/next_gen_prototype
+
+      - name: Build Prototype Packages (Overlay Workspace)
+        working-directory: next_gen_ws
+        run: |
+          source /opt/ros/jazzy/setup.bash
+          rosdep update
+          rosdep install --from-paths . --ignore-src -y --skip-keys="rclrs ament_cargo ament_python"
+          colcon build
+        shell: bash
+
+      - name: Run Automated Verification Tests
+        working-directory: next_gen_ws
+        run: |
+          source /opt/ros/jazzy/setup.bash
+          source install/setup.bash
+          colcon test --packages-select rmf_path_server_test --event-handlers console_direct+
+          colcon test-result --all
+        shell: bash

README.md

@@ -20,25 +20,38 @@ on discourse.
 
 ## Build Instructions
 
-1. Install `rust`, `colcon-cargo` and `colcon-cargo-ros`:
-```
-# Install Rust (see https://rustup.rs/)
-curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh
 
-# Install required system packages
-sudo apt install -y git libclang-dev python3-pip python3-vcstool
+1. Install `rust` and `colcon-cargo`.
+
+   **Method 1: Using a machine with ros2-jazzy installed**
+
+   ```
+   # Install Rust (see https://rustup.rs/)
+   curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh
 
-# Install colcon plugins for Rust
-pip install --break-system-packages colcon-cargo colcon-ros-cargo
+   # Install required system packages
+   sudo apt install -y git libclang-dev python3-pip
 
-```
+   # Install colcon plugins for Rust
+   sudo apt install python3-colcon-cargo
+   pip3 install --break-system-packages colcon-ros-cargo
+   ```
+
+   **Method 2: Using a container**
+   We pre-build base containers with all the dependencies you can use `rocker`, `distrobox`, `podman` or
+   any other oci compliant tool to get a base dev environment. For the purposes of this set of instructions we use distrobox:
+   ```
+   distrobox create --image ghcr.io/open-rmf/ros2_rust_base:jazzy -n ros2_rust_base
+   distrobox enter ros2_rust_base
+   ```
 
-2. **Import Workspace Dependencies (via `.repos` file)**  
-   Create a workspace and import the required ROS 2 Rust and navigation dependencies using this [`setup.repos`](https://gist.github.com/arjo129/1711acb6fdf2956640f022a1ebde3869):
+2. **Import Workspace Dependencies**  
+   Create a workspace and clone the repo:
    ```bash
    mkdir -p rmf_ws/src
-   cd rmf_ws
-   vcs import src --input https://gist.githubusercontent.com/arjo129/1711acb6fdf2956640f022a1ebde3869/raw/5786aa3d5e87a556c5c6769cc0983264b06a20d7/gistfile1.txt
+   cd rmf_ws/src
+   git clone https://github.com/open-rmf/next_gen_prototype.git
+   cd ..
    ```
 
 3. **Build the PR Packages**  

docker/Dockerfile.base

@@ -0,0 +1,56 @@
+FROM ros:jazzy-ros-base
+
+# Disable interactive prompts during package installation
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Install core build dependencies, Rust prerequisites, and ROS 2 build tools
+RUN apt-get update && apt-get upgrade -y && \
+    apt-get install -y --no-install-recommends \
+        curl \
+        git \
+        python3-pip \
+        python3-vcstool \
+        clang \
+        libclang-dev \
+        build-essential \
+        python3-colcon-common-extensions \
+        python3-colcon-cargo\
+        libssl-dev \
+        pkg-config \
+        && rm -rf /var/lib/apt/lists/*
+
+# Install colcon extensions for Rust
+RUN pip3 install --no-cache-dir --break-system-packages colcon-ros-cargo
+
+# Install Rust toolchain (Stable) and global Cargo tools accessible to all users
+ENV RUSTUP_HOME=/usr/local/rustup \
+    CARGO_HOME=/usr/local/cargo \
+    PATH=/usr/local/cargo/bin:$PATH
+RUN curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh -s -- -y --no-modify-path && \
+    cargo install cargo-ament-build && \
+    chmod -R a+rwX /usr/local/cargo /usr/local/rustup
+
+
+# Initialize Underlay Workspace
+WORKDIR /opt/ros2_rust_ws
+
+# Stage the prototype branch to resolve its rosdep system dependencies directly into the base image
+COPY . /tmp/next_gen_prototype
+
+# Install ROS 2 dependencies via rosdep for both underlay and prototype branch
+RUN apt-get update && \
+    rosdep init || true && \
+    rosdep update && \
+    rosdep install --from-paths /tmp/next_gen_prototype --ignore-src -yr --skip-keys="rclrs ament_cargo ament_python" && \
+    rm -rf /var/lib/apt/lists/* && \
+    rm -rf /tmp/next_gen_prototype
+
+# Build the Underlay Workspace
+#RUN /bin/bash -c "source /opt/ros/jazzy/setup.bash && \
+#    colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release"
+
+# Provide automatic sourcing entrypoint configuration inside ~/.bashrc
+RUN echo "source /opt/ros/jazzy/setup.bash" >> /root/.bashrc
+#echo "source /opt/ros2_rust_ws/install/setup.bash" >> /root/.bashrc
+
+CMD ["/bin/bash"]

path_server/rmf_path_server/Cargo.toml

@@ -6,14 +6,9 @@ edition = "2021"
 [dependencies]
 futures = "0.3.32"
 rclrs = "*"
-rmf_prototype_msgs = "*"
+ros-env = "0.2.0"
 rmf_participant_discovery = { path = "../../rmf_participant_discovery" }
-unique_identifier_msgs = "*"
-nav_msgs = "*"
-nav2_msgs = "*"
-geometry_msgs = "*"
-std_msgs = "*"
-builtin_interfaces = { version = "2.0.3" }
+
 serde = { version = "1.0", features = ["derive"] }
 tokio = { version = "1.0", features = ["full"] }
 mapf = { git = "https://github.com/open-rmf/mapf" }

path_server/rmf_path_server/src/lib.rs

@@ -13,9 +13,11 @@
 // limitations under the License.
 
 use mapf_post::{na::Isometry2, MapfResult, SemanticPlan, SemanticWaypoint};
-use nav_msgs::msg::Odometry;
 use rclrs::{IntoPrimitiveOptions, Node};
-use rmf_prototype_msgs::msg::{Destination, Plan, PlanId, TrafficDependency, Waypoint};
+use ros_env::builtin_interfaces;
+use ros_env::nav_msgs::msg::Odometry;
+use ros_env::rmf_prototype_msgs;
+use ros_env::rmf_prototype_msgs::msg::{Destination, Plan, PlanId, TrafficDependency, Waypoint};
 use std::collections::{hash_map::Entry, HashMap};
 use std::sync::Arc;
 

path_server/rmf_path_server/src/planner.rs

@@ -14,8 +14,8 @@
 
 use hetpibt::external_tracks_pibt::PiBTWithExternalTracks;
 use mapf_post::na::Isometry2;
-use nav_msgs::msg::Odometry;
-use rmf_prototype_msgs::msg::Destination;
+use ros_env::nav_msgs::msg::Odometry;
+use ros_env::rmf_prototype_msgs::msg::Destination;
 use std::collections::HashMap;
 
 use std::sync::atomic::AtomicBool;

path_server/rmf_plan_executor/Cargo.toml

@@ -6,11 +6,7 @@ edition = "2021"
 
 [dependencies]
 rclrs = "*"
-rmf_prototype_msgs = "*"
-nav_msgs = "*"
-nav2_msgs = "*"
-geometry_msgs = "*"
-std_msgs = "*"
-builtin_interfaces = { version = "2.0.3" }
+ros-env = "0.2.0"
+
 mapf_post = { git = "https://github.com/arjo129/mapf_post", branch="arjo/feat/more_efficient_checks"}
 rmf_participant_discovery = { path = "../../rmf_participant_discovery" }

path_server/rmf_plan_executor/src/lib.rs

@@ -12,18 +12,22 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-use geometry_msgs::msg::Pose;
 use mapf_post::{
     na::{Isometry2, Vector2},
     spatial_allocation::{CurrentPosition, Grid2D},
     MapfResult, WaypointFollower,
 };
-use nav2_msgs::msg::Costmap;
-use nav_msgs::msg::Odometry;
 use rclrs::{IntoPrimitiveOptions, Node};
-use rmf_prototype_msgs::msg::{
+use ros_env::builtin_interfaces;
+use ros_env::geometry_msgs::msg::Pose;
+use ros_env::nav2_msgs;
+use ros_env::nav2_msgs::msg::Costmap;
+use ros_env::nav_msgs::msg::Odometry;
+use ros_env::rmf_prototype_msgs;
+use ros_env::rmf_prototype_msgs::msg::{
     DestinationConstraints, Plan, PlanRelease, SafeZone, SafeZoneId, TargetOrientation,
 };
+use ros_env::std_msgs;
 use std::{
     collections::{BTreeMap, HashMap},
     sync::Arc,
@@ -525,7 +529,6 @@ impl PlanExecutor {
 
 #[cfg(test)]
 mod tests {
-    use super::*;
     use mapf_post::na::{Isometry2, Vector2};
     use mapf_post::{Trajectory, WaypointFollower};
 

path_server/rmf_plan_executor/src/main.rs

@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-use nav_msgs::msg::Odometry;
 use rclrs::{Context, CreateBasicExecutor, IntoPrimitiveOptions, SpinOptions};
 use rmf_plan_executor::PlanExecutor;
-use rmf_prototype_msgs::msg::{ParticipantList, Plan};
+use ros_env::nav_msgs::msg::Odometry;
+use ros_env::rmf_prototype_msgs::msg::{ParticipantList, Plan};
 use std::collections::HashMap;
 
 struct RobotConnections {

rmf_participant_discovery/Cargo.toml

@@ -5,4 +5,4 @@ edition = "2021"
 
 [dependencies]
 rclrs = "*"
-rmf_prototype_msgs = "*"
+ros-env = "0.2.0"

rmf_participant_discovery/src/lib.rs

@@ -13,7 +13,7 @@
 // limitations under the License.
 
 use rclrs::IntoPrimitiveOptions;
-use rmf_prototype_msgs::msg::ParticipantList;
+use ros_env::rmf_prototype_msgs::msg::ParticipantList;
 use std::collections::HashSet;
 
 #[derive(Debug, Clone, Default)]
@@ -101,7 +101,7 @@ where
 #[cfg(test)]
 mod tests {
     use super::*;
-    use rmf_prototype_msgs::msg::Participant;
+    use ros_env::rmf_prototype_msgs::msg::Participant;
 
     #[test]
     fn test_participant_tracker() {