Extends the workspace launcher and config handling and migrate Gazebo Fortress to Harmonic

.github/workflows/install-and-launch.yml

@@ -5,6 +5,10 @@
 # - CI=true    -> install.sh skips the host `xhost` check (no GUI on runners).
 # - variant=arm runs on `ubuntu-24.04-arm` with `./install.sh --arm`; the built image
 #   is then verified to be linux/arm64 (linux/amd64 for the default variant).
+# - Runner OS (22.04 or 24.04) is only the CI host. ROS Humble always runs inside
+#   Jammy-based images (`osrf/ros:humble-desktop` / `ros:humble-ros-base-jammy`).
+# - `ubuntu-24.04-arm` is GitHub's hosted ARM64 runner label; there is no 22.04-arm
+#   standard runner. The container OS stays Jammy regardless.
 # - The launch smoke test uses `./launch_lucy.sh --headless <command>`, which runs a
 #   single command inside the container (no control panel, no auto Gazebo/RViz).
 
@@ -51,6 +55,27 @@ jobs:
       - name: Drop workspace .env if present
         run: rm -f .env .env.local || true
 
+      # Docker Hub metadata/pull flakes (i/o timeout) fail `docker build` before
+      # any Dockerfile layer runs. Pre-pull with retries so the build reuses cache.
+      - name: Pre-pull base images (retry on Hub flakes)
+        run: |
+          pull_with_retry() {
+            image="$1"
+            for attempt in 1 2 3 4 5; do
+              if docker pull "$image"; then
+                return 0
+              fi
+              echo "docker pull ${image} failed (attempt ${attempt}/5), retrying..."
+              sleep $((attempt * 15))
+            done
+            return 1
+          }
+          if [ "${{ matrix.use_arm_install }}" = true ]; then
+            pull_with_retry ros:humble-ros-base-jammy
+          else
+            pull_with_retry osrf/ros:humble-desktop
+          fi
+
       - name: Install (clone + Docker image + rosdep + colcon + yarn)
         run: |
           chmod +x install.sh launch_lucy.sh

.gitignore

@@ -30,4 +30,5 @@ __pycache__/
 # Launcher remembered tick selection (persisted across container restarts)
 .lucy_launcher_state.json
 
-config/repos.json
+# Local repo override (forks/branches; takes precedence over config/repos.json)
+config/repos.json.local

Dockerfile.humble

@@ -1,4 +1,4 @@
-# Lucy runtime image — ROS 2 Humble (Ubuntu 22.04 Jammy) with Gazebo Fortress,
+# Lucy runtime image — ROS 2 Humble (Ubuntu 22.04 Jammy) with Gazebo Harmonic,
 # ros2_control, RViz, rosbridge, GStreamer and Node 22 + Yarn for the control panel.
 #
 # Built and tagged as `lucy_ros2:humble` by docker/ensure_image.sh, which
@@ -53,22 +53,24 @@ RUN printf '%s\n' \
       'Acquire::Retries "5";' \
       > /etc/apt/apt.conf.d/99-lucy-mirror-resilience
 
-# Gazebo Fortress (the `gz sim` binary used by ros_gz_sim launches).
+# Gazebo Harmonic (the `gz sim` binary used by ros_gz_sim launches).
+# Humble officially ships Fortress; Harmonic uses OSRF packages (ros-gzharmonic).
+# https://gazebosim.org/docs/harmonic/ros_installation/
 RUN apt-get update && apt-get install -y --no-install-recommends --fix-missing \
       curl lsb-release gnupg \
  && curl -sSL https://packages.osrfoundation.org/gazebo.gpg -o /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg \
  && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] https://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" \
       > /etc/apt/sources.list.d/gazebo-stable.list \
- && apt-get update && apt-get install -y --no-install-recommends --fix-missing ignition-fortress \
-
+ && apt-get update && apt-get install -y --no-install-recommends --fix-missing gz-harmonic \
  && rm -rf /var/lib/apt/lists/*
 
 # ROS sim/control stack + apt prerequisites for the rosdep run in install.sh
 # (lucy_bringup / camera_ros / GStreamer / pytest).
+# ros-humble-ros-gzharmonic* debs are amd64-only on packages.osrfoundation.org;
+# arm64 builds ros_gz from source in the layer below (gazebosim/ros_gz#614).
 RUN apt-get update && apt-get install -y --no-install-recommends \
-      ros-humble-ros-gz-sim \
-      ros-humble-ros-gz-bridge \
-      ros-humble-gz-ros2-control \
+      git wget \
+      ros-humble-simulation-interfaces \
       ros-humble-ros2-control \
       ros-humble-ros2-control-cmake \
       ros-humble-ros2-controllers \
@@ -83,9 +85,57 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
       gstreamer1.0-plugins-good \
       libgstreamer-plugins-good1.0-0 \
       tmux \
+ && wget -q https://raw.githubusercontent.com/osrf/osrf-rosdep/master/gz/00-gazebo.list \
+      -O /etc/ros/rosdep/sources.list.d/00-gazebo.list \
  && rosdep update \
  && rm -rf /var/lib/apt/lists/*
 
+# amd64: OSRF hosts ros-humble-ros-gzharmonic debs (not built for arm64).
+RUN if [ "$(dpkg --print-architecture)" = "amd64" ]; then \
+      apt-get update && apt-get install -y --no-install-recommends \
+        ros-humble-ros-gzharmonic \
+        ros-humble-ros-gzharmonic-bridge \
+      && rm -rf /var/lib/apt/lists/*; \
+    fi
+
+# Humble+Harmonic: gz_ros2_control has no apt package on any arch; ros_gz has no
+# arm64 debs — build from source (humble branch, GZ_VERSION=harmonic).
+# https://control.ros.org/humble/doc/gz_ros2_control/doc/index.html
+RUN bash -c 'set -e \
+ && ARCH=$(dpkg --print-architecture) \
+ && mkdir -p /opt/gz_ros2_control_ws/src \
+ && if [ "$ARCH" = "arm64" ]; then \
+      git clone --depth 1 --branch humble https://github.com/gazebosim/ros_gz.git \
+        /opt/gz_ros2_control_ws/src/ros_gz; \
+    fi \
+ && git clone --depth 1 --branch humble https://github.com/ros-controls/gz_ros2_control.git \
+      /opt/gz_ros2_control_ws/src/gz_ros2_control \
+ && source /opt/ros/humble/setup.bash \
+ && export GZ_VERSION=harmonic \
+ && cd /opt/gz_ros2_control_ws \
+ && if [ "$ARCH" = "arm64" ]; then \
+      apt-get update && apt-get install -y --no-install-recommends \
+        libgflags-dev \
+        ros-humble-actuator-msgs \
+        ros-humble-gps-msgs \
+        ros-humble-vision-msgs \
+      && rm -rf /var/lib/apt/lists/* \
+      && rosdep install -r --from-paths \
+           src/ros_gz/ros_gz_interfaces \
+           src/ros_gz/ros_gz_bridge \
+           src/ros_gz/ros_gz_sim \
+           src/gz_ros2_control \
+         --ignore-src --rosdistro humble -y \
+      && colcon build --parallel-workers=1 \
+         --packages-select ros_gz_interfaces ros_gz_bridge ros_gz_sim gz_ros2_control; \
+    else \
+      rosdep install -r --from-paths src --ignore-src --rosdistro humble -y \
+        --skip-keys="ros_gz_bridge ros_gz_sim gz_ros2_control_demos" \
+      && colcon build --packages-select gz_ros2_control; \
+    fi \
+ && rm -rf /opt/gz_ros2_control_ws/build /opt/gz_ros2_control_ws/log \
+      /opt/gz_ros2_control_ws/src'
+
 # Node 22 + Yarn — the lucy_control_panel Vite dev server runs inside this image.
 RUN curl -fsSL https://deb.nodesource.com/setup_22.x | bash - \
  && apt-get install -y --no-install-recommends nodejs \
@@ -116,4 +166,4 @@ RUN echo "alias exit=''" >> ~/.bashrc # Disable 'exit' to force launcher usage
 
 WORKDIR /workspace
 ENTRYPOINT ["/bin/bash"]
-CMD ["-c", "source /opt/ros/humble/setup.bash && exec /bin/bash"]
+CMD ["-c", "source /opt/ros/humble/setup.bash && source /opt/gz_ros2_control_ws/install/setup.bash && exec /bin/bash"]

config/launcher_config.json

@@ -12,6 +12,17 @@
             "readiness_timeout": 60,
             "default_on": false
         },
+        {
+            "id": "robot_inmoov",
+            "name": "Robot: InMoov",
+            "description": "(robot_package:=inmoov_urdf)",
+            "type": "modifier",
+            "dependencies": ["core"],
+            "conflicts": ["robot_thais"],
+            "command": "robot_package:=inmoov_urdf",
+            "requires_pkg": "inmoov_urdf",
+            "default_on": true
+        },
         {
             "id": "gazebo",
             "name": "... with Simulator",
@@ -25,6 +36,17 @@
             "readiness_timeout": 120,
             "default_on": false
         },
+        {
+            "id": "headless",
+            "name": "... headless",
+            "description": "(server-only, no GUI)",
+            "type": "modifier",
+            "dependencies": ["gazebo"],
+            "conflicts": [],
+            "command": "headless:=true",
+            "subitem": true,
+            "default_on": false
+        },
         {
             "id": "rviz",
             "name": "... with Visualizer",

config/repos.json

@@ -1,20 +1,20 @@
 {
   "repos": [
     {
-      "name": "thais_urdf",
-      "branch": "dev",
-      "url_https": "https://github.com/Sentience-Robotics/thais_urdf.git",
-      "url_ssh": "git@github.com:Sentience-Robotics/thais_urdf.git"
+      "name": "inmoov_urdf",
+      "branch": "master",
+      "url_https": "https://github.com/Sentience-Robotics/inmoov_urdf.git",
+      "url_ssh": "git@github.com:Sentience-Robotics/inmoov_urdf.git"
     },
     {
       "name": "lucy_ros_packages",
-      "branch": "dev",
+      "branch": "master",
       "url_https": "https://github.com/Sentience-Robotics/lucy_ros_packages.git",
       "url_ssh": "git@github.com:Sentience-Robotics/lucy_ros_packages.git"
     },
     {
       "name": "lucy_control_panel",
-      "branch": "dev",
+      "branch": "master",
       "url_https": "https://github.com/Sentience-Robotics/lucy_control_panel.git",
       "url_ssh": "git@github.com:Sentience-Robotics/lucy_control_panel.git"
     }

docs/developer_lucy_packages.md

@@ -44,6 +44,27 @@ Docker Desktop on Apple Silicon defaults to `linux/amd64` ROS images and runs th
 
 `config/repos.json` carries both `url_https` (default) and `url_ssh` for each repo. To clone over SSH, copy `.env.example` to `.env` and set `DEV=true` before running `install.sh`. SSH keys must be configured for the relevant host.
 
+### Local repo overrides (`config/repos.json.local`)
+
+To point a repo at your own fork or a feature branch without editing the tracked `config/repos.json`, create **`config/repos.json.local`**. When present it is used instead of `repos.json` by both `install.sh` and the launcher (`windows/Lucy.py`), and it is gitignored so overrides are never committed.
+
+Use the same structure as `repos.json` — list only the repos you want to override (or all of them). Each entry needs `name` (the folder under `src/`), `branch`, and both `url_https` and `url_ssh` (Developer Mode selects SSH, otherwise HTTPS):
+
+```json
+{
+  "repos": [
+    {
+      "name": "inmoov_urdf",
+      "branch": "my-feature-branch",
+      "url_https": "https://github.com/your-user/inmoov_urdf.git",
+      "url_ssh": "git@github.com:your-user/inmoov_urdf.git"
+    }
+  ]
+}
+```
+
+Delete the file to fall back to the tracked `repos.json`.
+
 ## `launch_lucy.sh`
 
 Builds the Docker image if needed, mounts the workspace at `/workspace`, sources the built ROS overlay, then:

install.sh

@@ -16,6 +16,7 @@
 #                                    combine with any other flag, e.g. --arm --build-only
 #
 # Optional .env (copy from .env.example): DEV=true selects `url_ssh` in repos.json (default: `url_https`).
+# Optional config/repos.json.local (gitignored): overrides config/repos.json to point repos at forks/branches.
 
 set -e
 SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
@@ -32,7 +33,14 @@ fi
 IMAGE_NAME="lucy_ros2:humble"
 DOCKERFILE_PATH="$SCRIPT_DIR/Dockerfile.humble"
 WORKSPACE="/workspace"
+# config/repos.json.local (gitignored) overrides the tracked config/repos.json,
+# so contributors can point repos at their own forks/branches without touching
+# the committed file. Falls back to repos.json when no local override exists.
 CONFIG_FILE="${SCRIPT_DIR}/config/repos.json"
+if [ -f "${SCRIPT_DIR}/config/repos.json.local" ]; then
+  CONFIG_FILE="${SCRIPT_DIR}/config/repos.json.local"
+  echo "install.sh: using local repo override config/repos.json.local"
+fi
 
 # shellcheck disable=SC1091
 source "$SCRIPT_DIR/docker/ensure_image.sh"
@@ -146,6 +154,7 @@ docker_workspace_install() {
   local inner_cmd
   read -r -d '' inner_cmd <<'EOS' || true
 source /opt/ros/humble/setup.bash \
+  && [ -f /opt/gz_ros2_control_ws/install/setup.bash ] && source /opt/gz_ros2_control_ws/install/setup.bash \
   && cd /workspace \
   && rosdep install --from-paths src --ignore-src -r -y --skip-keys="audio_common" \
   && rm -rf build/camera_ros install/camera_ros \

launch_lucy.sh

@@ -194,7 +194,7 @@ DOCKER_PORT_ARGS=(
 # Container scripts
 # ----------------------------------------------------------------------------
 
-SETUP="source /opt/ros/humble/setup.bash"
+SETUP="source /opt/ros/humble/setup.bash && [ -f /opt/gz_ros2_control_ws/install/setup.bash ] && source /opt/gz_ros2_control_ws/install/setup.bash"
 SOURCE_WORKSPACE="cd $WORKSPACE && source install/setup.bash"
 LAUNCH_GAZEBO_RVIZ_BRIDGE_CP="ros2 launch lucy_bringup lucy.launch.py gazebo:=true rviz:=true"
 LAUNCH_RVIZ_BRIDGE_CP="ros2 launch lucy_bringup lucy.launch.py rviz:=true"
@@ -203,6 +203,7 @@ LAUNCH_RVIZ_BRIDGE_CP="ros2 launch lucy_bringup lucy.launch.py rviz:=true"
 read -r -d '' CONTAINER_PREAMBLE <<'EOS' || true
 set -e
 source /opt/ros/humble/setup.bash
+[ -f /opt/gz_ros2_control_ws/install/setup.bash ] && source /opt/gz_ros2_control_ws/install/setup.bash
 cd /workspace
 if [[ ! -f install/setup.bash ]]; then
   echo "Workspace not built. Run Install/Update via Lucy.py" >&2