General robot deployment infra: aarch64 build args + robot-name resolution fixes (#370)

Foundational real-robot deployment fixes extracted from the OptiTrack
emulation PR (#367) so they can be reviewed and merged first; #367 will be
rebased on top afterward, shrinking its diff.

Docker / ARM build:
- Add TARGET_ARCH build arg (default x86_64) to Dockerfile.robot and use it to
  parametrize LD_LIBRARY_PATH, so the aarch64 (Jetson/l4t, voxl) images link
  against the correct arch triplet.
- docker-compose.yaml passes TARGET_ARCH: aarch64 to the voxl and l4t image
  builds.
- Install ros-${ROS_DISTRO}-mavros-extras (generic dep; also provides the
  vision_pose plugin used by external-pose deployments).

Robot name resolution:
- .bashrc now follows a pre-set ROBOT_NAME (e.g. injected by docker compose)
  instead of always overriding it from the container/hostname mapping. The
  bws() flock build lock is retained.
- default_robot_name_map.yaml catch-all fallback maps to unknown_robot (valid
  ROS namespace token) instead of unknown-robot.

Version bumped 0.19.0-alpha.5 -> 0.19.0-alpha.6 for the version-increment gate.

Note: the trajectory_controller/trajectory_library robustness fixes originally
listed for extraction are already present on develop (PR #365), so they are not
included here.

Co-authored-by: Claude Opus 4.8 <noreply@anthropic.com>

Author: JohnYanxinLiu

.env

@@ -12,7 +12,7 @@ PROJECT_NAME="airstack"
 # If you've run ./airstack.sh setup, then this will auto-generate from the git commit hash every time a change is made 
 # to a Dockerfile or docker-compose.yaml file. Otherwise this can also be set explicitly to make a release version.
 # auto-generated from git commit hash
-VERSION="0.19.0-alpha.5"
+VERSION="0.19.0-alpha.6"
 # Choose "dev" or "prebuilt". "dev" is for mounted code that must be built live. "prebuilt" is for built ros_ws baked into the image
 DOCKER_IMAGE_BUILD_MODE="dev"  
 # Where to push and pull images from. Can replace with your docker hub username if using docker hub.

CHANGELOG.md

@@ -10,6 +10,13 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 ### Added
 
 - Battery and telemetry display in GCS RQT control panel (voltage and percentage per robot when MAVROS battery topic is bridged)
+- `TARGET_ARCH` build arg (default `x86_64`) in `Dockerfile.robot` to arch-parametrize `LD_LIBRARY_PATH`; `docker-compose.yaml` passes `TARGET_ARCH: aarch64` to the `voxl` and `l4t` real-robot image builds
+- `ros-${ROS_DISTRO}-mavros-extras` in the robot image (provides the vision_pose plugin used for external-pose deployments)
+
+### Fixed
+
+- Robot name resolution now honors a pre-set `ROBOT_NAME` (e.g. injected via docker compose) instead of always overriding it from the container/hostname mapping (`robot/docker/.bashrc`)
+- Robot name-map catch-all fallback now maps to `unknown_robot` (valid ROS namespace token) instead of `unknown-robot` (`default_robot_name_map.yaml`)
 
 ## [1.0.0] - 2024-12-19
 

robot/docker/.bashrc

@@ -69,35 +69,39 @@ function cws(){
 source /opt/ros/jazzy/setup.bash
 sws # source the ROS2 workspace by default
 
-# Only extract robot name and ROS domain ID iff they are not already set in the environment (e.g. by docker compose)
-if [ "$ROBOT_NAME_SOURCE" == "container_name" ]; then
-    # https://wiki.psuter.ch/doku.php?id=get_docker_container_name_from_within_the_container
-    # WARNING: this technique ONLY works with docker version 29 and up.
-    name_to_map=$(host $(host $(hostname) | awk '{print $NF}') | awk '{print $NF}' | awk -F . '{print $1}')
-    CONTAINER_NAME=":$name_to_map"
-elif [ "$ROBOT_NAME_SOURCE" == "hostname" ]; then
-    name_to_map=$(hostname)
-else
-    echo "Warning: ROBOT_NAME_SOURCE=$ROBOT_NAME_SOURCE not set to a valid value. Defaulting to 'unknown_robot'."
-    name_to_map=""
-    export ROBOT_NAME="unknown_robot"
-    export ROS_DOMAIN_ID=0
-fi
-# set ROBOT_NAME and ROS_DOMAIN_ID from the mapping script if NAME_TO_MAP is not empty
-if [ -n "$name_to_map" ]; then
-    script_path="$HOME/AirStack/robot/docker/robot_name_map/resolve_robot_name.py"
-    script_dir=$(dirname "$script_path")
+# If ROBOT_NAME is pre-set (e.g. via docker compose), keep it.
+# Otherwise extract robot name and ROS domain ID from the container/hostname mapping.
+if [ -z "${ROBOT_NAME:-}" ]; then
+    if [ "$ROBOT_NAME_SOURCE" == "container_name" ]; then
+        # https://wiki.psuter.ch/doku.php?id=get_docker_container_name_from_within_the_container
+        # WARNING: this technique ONLY works with docker version 29 and up.
+        name_to_map=$(host $(host $(hostname) | awk '{print $NF}') | awk '{print $NF}' | awk -F . '{print $1}')
+        CONTAINER_NAME=":$name_to_map"
+    elif [ "$ROBOT_NAME_SOURCE" == "hostname" ]; then
+        name_to_map=$(hostname)
+    else
+        echo "Warning: ROBOT_NAME_SOURCE=$ROBOT_NAME_SOURCE not set to a valid value. Defaulting to 'unknown_robot'."
+        name_to_map=""
+        export ROBOT_NAME="unknown_robot"
+        export ROS_DOMAIN_ID=0
+    fi
 
-    existing_robot_domain_id=${ROS_DOMAIN_ID:-}
+    # set ROBOT_NAME and ROS_DOMAIN_ID from the mapping script if NAME_TO_MAP is not empty
+    if [ -n "$name_to_map" ]; then
+        script_path="$HOME/AirStack/robot/docker/robot_name_map/resolve_robot_name.py"
+        script_dir=$(dirname "$script_path")
 
-    eval "$($script_path $name_to_map $script_dir/$ROBOT_NAME_MAP_CONFIG_FILE)"
-    export ROBOT_NAME
+        existing_robot_domain_id=${ROS_DOMAIN_ID:-}
 
-    # if ROS_DOMAIN_ID was already set in the environment, use that instead of the mapped value
-    if [ -z "$existing_robot_domain_id" ]; then
-        export ROS_DOMAIN_ID
-    else
-        export ROS_DOMAIN_ID=$existing_robot_domain_id
+        eval "$($script_path $name_to_map $script_dir/$ROBOT_NAME_MAP_CONFIG_FILE)"
+        export ROBOT_NAME
+
+        # if ROS_DOMAIN_ID was already set in the environment, use that instead of the mapped value
+        if [ -z "$existing_robot_domain_id" ]; then
+            export ROS_DOMAIN_ID
+        else
+            export ROS_DOMAIN_ID=$existing_robot_domain_id
+        fi
     fi
 fi
 

robot/docker/Dockerfile.robot

@@ -12,6 +12,7 @@ ARG UPDATE_FLAGS="-o Acquire::AllowInsecureRepositories=true -o Acquire::AllowDo
 ARG INSTALL_FLAGS="-o APT::Get::AllowUnauthenticated=true"
 ARG SKIP_MACVO=false
 ARG SKIP_TENSORRT=false
+ARG TARGET_ARCH=x86_64
 
 ARG PIP_VERSION=24.0
 ARG PYTHON_VERSION=3.12
@@ -65,7 +66,7 @@ RUN sudo add-apt-repository universe \
 
 ENV AMENT_PREFIX_PATH=/opt/ros/${ROS_DISTRO}
 ENV COLCON_PREFIX_PATH=/opt/ros/${ROS_DISTRO}
-ENV LD_LIBRARY_PATH=/opt/ros/${ROS_DISTRO}/lib/x86_64-linux-gnu:/opt/ros/${ROS_DISTRO}/lib
+ENV LD_LIBRARY_PATH=/opt/ros/${ROS_DISTRO}/lib/${TARGET_ARCH}-linux-gnu:/opt/ros/${ROS_DISTRO}/lib
 ENV PATH=/opt/ros/${ROS_DISTRO}/bin:$PATH
 ENV PYTHONPATH=/opt/ros/${ROS_DISTRO}/local/lib/python${PYTHON_VERSION}/dist-packages:/opt/ros/${ROS_DISTRO}/lib/python${PYTHON_VERSION}/site-packages
 ENV ROS_PYTHON_VERSION=3
@@ -96,6 +97,7 @@ RUN python3 -m pip install --no-cache-dir --break-system-packages --ignore-insta
 RUN apt update -y && apt install -y --no-install-recommends \
   ros-dev-tools \
   ros-${ROS_DISTRO}-mavros \
+  ros-${ROS_DISTRO}-mavros-extras \
   ros-${ROS_DISTRO}-tf2* \
   ros-${ROS_DISTRO}-stereo-image-proc \
   ros-${ROS_DISTRO}-image-view \
@@ -245,6 +247,7 @@ ARG UPDATE_FLAGS="-o Acquire::AllowInsecureRepositories=true -o Acquire::AllowDo
 ARG INSTALL_FLAGS="-o APT::Get::AllowUnauthenticated=true"
 ARG SKIP_MACVO=false
 ARG SKIP_TENSORRT=false
+ARG TARGET_ARCH=x86_64
 
 ARG PIP_VERSION=24.0
 ARG PYTHON_VERSION=3.12
@@ -297,7 +300,7 @@ RUN sudo add-apt-repository universe \
 
 ENV AMENT_PREFIX_PATH=/opt/ros/${ROS_DISTRO}
 ENV COLCON_PREFIX_PATH=/opt/ros/${ROS_DISTRO}
-ENV LD_LIBRARY_PATH=/opt/ros/${ROS_DISTRO}/lib/x86_64-linux-gnu:/opt/ros/${ROS_DISTRO}/lib
+ENV LD_LIBRARY_PATH=/opt/ros/${ROS_DISTRO}/lib/${TARGET_ARCH}-linux-gnu:/opt/ros/${ROS_DISTRO}/lib
 ENV PATH=/opt/ros/${ROS_DISTRO}/bin:$PATH
 ENV PYTHONPATH=/opt/ros/${ROS_DISTRO}/local/lib/python${PYTHON_VERSION}/dist-packages:/opt/ros/${ROS_DISTRO}/lib/python${PYTHON_VERSION}/site-packages
 ENV ROS_PYTHON_VERSION=3
@@ -328,6 +331,7 @@ RUN python3 -m pip install --no-cache-dir --break-system-packages --ignore-insta
 RUN apt update -y && apt install -y --no-install-recommends \
   ros-dev-tools \
   ros-${ROS_DISTRO}-mavros \
+  ros-${ROS_DISTRO}-mavros-extras \
   ros-${ROS_DISTRO}-tf2* \
   ros-${ROS_DISTRO}-stereo-image-proc \
   ros-${ROS_DISTRO}-image-view \

robot/docker/docker-compose.yaml

@@ -122,6 +122,7 @@ services:
         REAL_ROBOT: true
         SKIP_MACVO: true
         SKIP_TENSORRT: true
+        TARGET_ARCH: aarch64
         ROS_DISTRO: jazzy
       tags:
         - *voxl_image
@@ -179,6 +180,7 @@ services:
         REAL_ROBOT: true
         SKIP_MACVO: true
         SKIP_TENSORRT: true
+        TARGET_ARCH: aarch64
         ROS_DISTRO: jazzy
       tags:
         - *l4t_image

robot/docker/robot_name_map/default_robot_name_map.yaml

@@ -12,5 +12,5 @@ mappings:
 
   # catch all fall-back
   - pattern: '.*'
-    robot: 'unknown-robot'
+    robot: 'unknown_robot'
     domain_id: '0'