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Using Docker and Aptly to check package installation

Aptly

Aptly allows you to mirror remote repositories, manage local package repositories and more. more

Warning

Download new version 1.6.1 download The ubuntu repo version is 1.4.0 isn't support Zstd compression that use by bloom-generate

Using aptly to create a custom repository for ROS packages. This is useful when you want to create a custom repository for your ROS packages.

  • Create a new repository
  • Add packages to the repository
  • Publish the repository
  • Add the repository to the sources list

Create a new repository

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aptly -distribution="jammy" -architectures="amd64" \
repo \
create \
my_ros_app_repo

Add packages to the repository

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aptly repo add my_ros_app_repo \
ros-humble-pkg-client_0.0.0-0jammy_amd64.deb \
ros-humble-pkg-server_0.0.0-0jammy_amd64.deb

Publish the repository

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aptly -architectures="amd64" -skip-signing=true \
publish repo -architectures="amd64" \
my_ros_app_repo local
Serve the repository
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aptly serve
# aptly serve -listen=":8081"

Docker

Install ROS Package on a docker container The docker image base on ubuntu 22.04 with ROS humble base

Note

For test the installation i use docker from Allison github

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docker build -t humble:dev --target dev .

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docker run -it --rm \
--net host \
--hostname ros \
--user user \
humble:dev /bin/bash

Add the repository to the sources list

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deb [trusted=true] http://127.0.0.1:8081/local/ jammy main

Check for packages

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apt update
apt search ros-humble-pkg*
Sorting... Done
Full Text Search... Done
ros-humble-pkg-client/jammy 0.0.0-0jammy amd64
  TODO: Package description

ros-humble-pkg-server/jammy 0.0.0-0jammy amd64
  TODO: Package description

Install

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apt install ros-humble-pkg-client

alt text

Usage and check installation

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source /opt/ros/humble/setup.bash
ros2 launch pkg_client client_server.launch.py

alt text