Migrate to ROS2 humble

build_ros/Dockerfile

@@ -1,5 +1,5 @@
 ARG ROS=humble
-FROM osrf/ros:${ROS}-desktop
+FROM osrf/ros:${ROS}-desktop-full
 
 #SSH (First to hopefully keep keys, even on modification.)
 RUN apt-get update && apt-get install -y openssh-server && rm -rf /var/lib/apt/lists/*
@@ -7,11 +7,11 @@ RUN apt-get update && apt-get install -y openssh-server && rm -rf /var/lib/apt/l
 #OpenGL
 RUN apt-get update && DEBIAN_FRONTEND=noninteractive apt-get install -y xserver-xorg-video-all libgl1-mesa-glx libgl1-mesa-dri libglvnd0 libgl1 libglx0 libegl1 libxext6 libx11-6 && rm -rf /var/lib/apt/lists/*
 #Vulkan
-RUN apt-get update && apt-get install -y libvulkan1 mesa-vulkan-drivers vulkan-utils mesa-utils && rm -rf /var/lib/apt/lists/*
+RUN apt-get update && apt-get install -y libvulkan1 mesa-vulkan-drivers vulkan-tools mesa-utils && rm -rf /var/lib/apt/lists/*
 #Utils
-RUN apt-get update && apt-get install -y git ninja-build git bash-completion clangd-12 && rm -rf /var/lib/apt/lists/*
+RUN apt-get update && apt-get install -y git ninja-build git bash-completion clangd ccls && rm -rf /var/lib/apt/lists/*
 #Rosdeps
-RUN apt-get update && apt-get install -y git ros-galactic-ament-cmake ros-galactic-moveit ros-galactic-behaviortree-cpp-v3 ros-galactic-ros-ign-gazebo && rm -rf /var/lib/apt/lists/*
+RUN apt-get update && apt-get install -y git ros-humble-ament-cmake ros-humble-moveit ros-humble-behaviortree-cpp-v3 ros-humble-ros-ign-gazebo && rm -rf /var/lib/apt/lists/*
 
 RUN mkdir /run/sshd
 

docker-compose.yaml

@@ -7,7 +7,7 @@ services:
     build: 
       context: ./build_ros
       args:
-        ROS: galactic           #Desired ROS version
+        ROS: humble           #Desired ROS version
     volumes:
       - /tmp/.X11-unix:/tmp/.X11-unix:rw
       - ./home:/home/ros