feat: add rosdep.yaml handling and iiwa_web package to Dockerfiles

cobot/commands/local_setup.py

@@ -239,6 +239,25 @@ def _task_build(screen: LogScreen) -> None:
 
         screen.set_progress(0, "Installing dependencies...")
         screen.write("[bold]Step 1 / 2 - rosdep install[/bold]\n")
+
+        rosdep_yaml = _PROJECT_DIR / "rosdep.yaml"
+        sources_list = Path("/etc/ros/rosdep/sources.list.d/50-kuka-local.list")
+        rosdep_entry = f"yaml file://{rosdep_yaml}\n"
+        if rosdep_yaml.exists() and (
+            not sources_list.exists() or sources_list.read_text() != rosdep_entry
+        ):
+            try:
+                sources_list.write_text(rosdep_entry)
+                screen.write(f"Registered local rosdep source: {rosdep_yaml}")
+                _run_logged(["rosdep", "update"], screen.write, env=env, cwd=_PROJECT_DIR)
+            except PermissionError:
+                _run_logged(
+                    ["sudo", "bash", "-c",
+                     f"echo '{rosdep_entry.strip()}' > {sources_list}"],
+                    screen.write, env=env,
+                )
+                _run_logged(["rosdep", "update"], screen.write, env=env, cwd=_PROJECT_DIR)
+
         _run_logged(
             ["rosdep", "install", "--from-paths", "src", "-i", "-r", "-y"],
             screen.write,

docker/jazzy/ros-iiwa7-webots/Dockerfile

@@ -47,8 +47,13 @@ COPY src/iiwa_description src/iiwa_description
 COPY src/iiwa_msgs src/iiwa_msgs
 COPY src/iiwa_planning src/iiwa_planning
 COPY src/iiwa_utils src/iiwa_utils
+COPY src/iiwa_web src/iiwa_web
+COPY rosdep.yaml rosdep.yaml
 
-RUN apt-get update && \
+RUN echo "yaml file:///ros2_ws/rosdep.yaml" \
+        > /etc/ros/rosdep/sources.list.d/50-kuka-local.list && \
+    rosdep update && \
+    apt-get update && \
     rosdep install --from-paths src -i -r -y && \
     rm -rf /var/lib/apt/lists/*
 

docker/jazzy/ros-iiwa7/Dockerfile

@@ -24,8 +24,13 @@ COPY src/iiwa_description src/iiwa_description
 COPY src/iiwa_msgs src/iiwa_msgs
 COPY src/iiwa_planning src/iiwa_planning
 COPY src/iiwa_utils src/iiwa_utils
+COPY src/iiwa_web src/iiwa_web
+COPY rosdep.yaml rosdep.yaml
 
-RUN apt-get update && \
+RUN echo "yaml file:///ros2_ws/rosdep.yaml" \
+        > /etc/ros/rosdep/sources.list.d/50-kuka-local.list && \
+    rosdep update && \
+    apt-get update && \
     rosdep install --from-paths src -i -r -y && \
     rm -rf /var/lib/apt/lists/*