config.py

import copy
from jetson_containers import L4T_VERSION

ROS_DISTROS = ['melodic', 'noetic', 'foxy', 'galactic', 'humble', 'iron']
ROS_PACKAGES = ['ros_base', 'ros_core', 'desktop']

# add permutations of ROS distros/packages as subpackages
template = package.copy()

template['group'] = 'ros'
template['depends'] = ['cuda', 'cudnn', 'tensorrt', 'opencv', 'cmake']
template['postfix'] = f"l4t-r{L4T_VERSION}"

template['docs'] = "docs.md"
#template['docs'] += f"Supported ROS distros:   {' '.join([f'`{distro}`' for distro in ROS_DISTROS])}\n<br>\n"
#template['docs'] += f"Supported ROS packages:  {' '.join([f'`{pkg}`' for pkg in ROS_PACKAGES])}\n"

package = []

for ROS_DISTRO in ROS_DISTROS:
    for ROS_PACKAGE in ROS_PACKAGES:
        pkg = copy.deepcopy(template)
        
        pkg['name'] = f"ros:{ROS_DISTRO}-{ROS_PACKAGE.replace('_', '-')}"
        
        pkg['build_args'] = {
            'ROS_VERSION': ROS_DISTRO,
            'ROS_PACKAGE': ROS_PACKAGE
        }
        
        if ROS_DISTRO == 'melodic':
            pkg['dockerfile'] = 'Dockerfile.ros.melodic'
            pkg['test'] = 'test_ros.sh'
            pkg['requires'] = '<34'   # melodic is for 18.04 only
            pkg['notes'] = 'ROS Melodic is for JetPack 4 only'
            pkg['depends'].remove('opencv')  # melodic apt packages install the ubuntu opencv
            pkg['depends'][0] = 'cmake:apt'  # melodic (python 2.7) doesn't like pip-based cmake
        elif ROS_DISTRO == 'noetic':
            pkg['dockerfile'] = 'Dockerfile.ros.noetic'
            pkg['test'] = 'test_ros.sh'
        else:
            pkg['dockerfile'] = 'Dockerfile.ros2'
            pkg['test'] = 'test_ros2.sh'
            
        package.append(pkg)