o3de · jhanca-robotecai · May 25, 2026 · May 25, 2026 · May 25, 2026 · May 25, 2026
@@ -20,3 +20,4 @@ server*.cfg
 _savebackup/
 *.swatches
 /imgui.ini
+backtrace.log
@@ -17,4 +17,4 @@ When creating a pull request to this repository, make sure that:
 
 ### Additional information
 
-We recommend you to read [O3DE contribution guide](https://github.com/o3de/community/blob/main/CONTRIBUTING.md) and [ROS contribution guide](https://docs.ros.org/en/humble/Contributing.html) as well.
+We recommend you to read [O3DE contribution guide](https://github.com/o3de/community/blob/main/CONTRIBUTING.md) and [ROS contribution guide](https://docs.ros.org/en/jazzy/Contributing.html) as well.
diff --git a/Docker/Dockerfile b/Docker/Dockerfile
@@ -2,141 +2,136 @@
 # For complete copyright and license terms please see the LICENSE at the root of this distribution.
 #
 # SPDX-License-Identifier: Apache-2.0 OR MIT
-#
 
-# Collect the arguments for the base ros image
-ARG ROS_VERSION=humble
-ARG UBUNTU_VERSION=jammy
+ARG ROS_VERSION=jazzy
+ARG UBUNTU_VERSION=noble
 
 FROM ros:${ROS_VERSION}-ros-base-${UBUNTU_VERSION}
 
 ARG ROS_VERSION
 ARG UBUNTU_VERSION
 
-
 # Argument to determining the image type ('simulation' or 'navstack')
-ARG IMAGE_TYPE=simulation  # Default to 'simulation'
-
-# Arguments for the source repos needed for the robot vacuum sample docker
-ARG O3DE_REPO=https://github.com/o3de/o3de.git
-ARG O3DE_BRANCH=2310.1
+ARG IMAGE_TYPE=simulation
 
-ARG O3DE_EXTRAS_REPO=https://github.com/o3de/o3de-extras.git
-ARG O3DE_EXTRAS_BRANCH=2310.1
+# O3DE SDK installer URL and install path
+ARG O3DE_DEB_URL=https://o3debinaries.org/stabilization-26050/Latest/Linux/o3de_latest.deb
+ARG O3DE_INSTALL_DIR=/opt/O3DE/26.05
 
 ARG LOFT_GEM_REPO=https://github.com/o3de/loft-arch-vis-sample.git
 ARG LOFT_GEM_BRANCH=main
 
 ARG ROBOT_VAC_SAMPLE_REPO=https://github.com/o3de/RobotVacuumSample.git
 ARG ROBOT_VAC_SAMPLE_BRANCH=main
 
-# Additional argument to control build concurrency
-ARG CMAKE_JOBS=8
-
 ENV WORKSPACE=/data/workspace
 
 WORKDIR $WORKSPACE
 
 RUN apt-get update && apt-get upgrade -y
 
-# Add additional package repositories needed for packages
-RUN apt-get install -y --no-install-recommends gpg wget curl
-
-
-# For ubuntu 20.04 (focal) then default version of cmake is not supported. Update and get version 3.24.1 from kitware
-RUN if [ "${UBUNTU_VERSION}" = "focal" ]; then \
-      wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | \
-        gpg --dearmor - | \
-        tee /usr/share/keyrings/kitware-archive-keyring.gpg >/dev/null \
-      && echo 'deb [signed-by=/usr/share/keyrings/kitware-archive-keyring.gpg] https://apt.kitware.com/ubuntu/ focal main' | \
-        tee /etc/apt/sources.list.d/kitware.list >/dev/null \
-      && apt-get update; \
+RUN apt-get install -y --no-install-recommends wget curl
+
+# Install build tools, O3DE system dependencies, and ROS 2 navigation packages
+RUN apt-get install -y --no-install-recommends \
+        git \
+        git-lfs \
+        clang \
+        ninja-build \
+        cmake \
+        libglu1-mesa-dev \
+        libxcb-xinerama0 \
+        libxcb-xinput0 \
+        libxcb-xinput-dev \
+        libxcb-xfixes0-dev \
+        libxcb-xkb-dev \
+        libxkbcommon-dev \
+        libxkbcommon-x11-dev \
+        libfontconfig1-dev \
+        libcurl4-openssl-dev \
+        libsdl2-dev \
+        zlib1g-dev \
+        mesa-common-dev \
+        libssl-dev \
+        libxcb-icccm4 \
+        libxcb-image0 \
+        libxcb-keysyms1 \
+        libxcb-render-util0 \
+        libxcb-randr0 \
+        ufw \
+        ros-${ROS_DISTRO}-desktop \
+        ros-${ROS_DISTRO}-slam-toolbox \
+        ros-${ROS_DISTRO}-navigation2 \
+        ros-${ROS_DISTRO}-nav2-bringup \
+        ros-${ROS_DISTRO}-pointcloud-to-laserscan \
+        ros-${ROS_DISTRO}-gazebo-msgs \
+        ros-${ROS_DISTRO}-ackermann-msgs \
+        ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
+        ros-${ROS_DISTRO}-control-toolbox \
+        ros-${ROS_DISTRO}-vision-msgs \
+        ros-${ROS_DISTRO}-nav-msgs
+
+# Download and install the O3DE SDK
+RUN if [ "${IMAGE_TYPE}" = "simulation" ]; then \
+        wget -O /tmp/o3de_latest.deb ${O3DE_DEB_URL} && \
+        apt-get install -y /tmp/o3de_latest.deb && \
+        rm /tmp/o3de_latest.deb; \
     fi
 
-#
-# Install packages needed for cloning and building from the source repos
-#
+# Initialize O3DE Python environment, register the engine, and download required Gems
+RUN if [ "${IMAGE_TYPE}" = "simulation" ]; then \
+        ${O3DE_INSTALL_DIR}/python/get_python.sh && \
+        ${O3DE_INSTALL_DIR}/scripts/o3de.sh register --this-engine && \
+        ${O3DE_INSTALL_DIR}/scripts/o3de.sh register --repo-uri https://canonical.o3de.org && \
+        ${O3DE_INSTALL_DIR}/scripts/o3de.sh download --gem-name LevelGeoreferencing && \
+        ${O3DE_INSTALL_DIR}/scripts/o3de.sh download --gem-name ROS2 && \
+        ${O3DE_INSTALL_DIR}/scripts/o3de.sh download --gem-name ROS2Controllers && \
+        ${O3DE_INSTALL_DIR}/scripts/o3de.sh download --gem-name ROS2Sensors; \
+    fi
 
-# Install the git and build tools
-RUN apt-get install -y --no-install-recommends git \
-                       git-lfs \
-                       clang-12 \
-                       ninja-build \
-                       cmake \
-                       libglu1-mesa-dev \
-                       libxcb-xinerama0 \
-                       libxcb-xinput0 \
-                       libxcb-xinput-dev \
-                       libxcb-xfixes0-dev \
-                       libxcb-xkb-dev \
-                       libxkbcommon-dev \
-                       libxkbcommon-x11-dev \
-                       libfontconfig1-dev \
-                       libcurl4-openssl-dev \
-                       libsdl2-dev \
-                       zlib1g-dev \
-                       mesa-common-dev \
-                       libssl-dev libxcb-icccm4 \
-                       libxcb-image0 \
-                       libxcb-keysyms1 \
-                       libxcb-render-util0 \
-                       libxcb-randr0 \
-                       libnvidia-gl-470 \
-                       ufw \
-                       ros-${ROS_DISTRO}-slam-toolbox \
-                       ros-${ROS_DISTRO}-navigation2 \
-                       ros-${ROS_DISTRO}-nav2-bringup \
-                       ros-${ROS_DISTRO}-pointcloud-to-laserscan \
-                       ros-${ROS_DISTRO}-gazebo-msgs \
-                       ros-${ROS_DISTRO}-ackermann-msgs \
-                       ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
-                       ros-${ROS_DISTRO}-control-toolbox \
-                       ros-${ROS_DISTRO}-nav-msgs 
-
-COPY cleanup.bash /data/workspace/cleanup.bash
-
-# Clone O3DE repos, register, build, and cleanup in the same layer to reduce the size
+# Clone and register the Loft Scene Gem
 RUN if [ "${IMAGE_TYPE}" = "simulation" ]; then \
-        apt-get install -y --no-install-recommends ros-${ROS_DISTRO}-desktop && \
-        cd $WORKSPACE && \
-        git clone $O3DE_REPO && \
-        git -C $WORKSPACE/o3de checkout $O3DE_BRANCH &&\
-        git -C $WORKSPACE/o3de lfs install && \
-        git -C $WORKSPACE/o3de lfs pull && \
-        $WORKSPACE/o3de/python/get_python.sh && \
-        $WORKSPACE/o3de/scripts/o3de.sh register -ep $WORKSPACE/o3de && \
-        git clone $O3DE_EXTRAS_REPO && \
-        git -C $WORKSPACE/o3de-extras checkout $O3DE_EXTRAS_BRANCH &&\
-        $WORKSPACE/o3de/scripts/o3de.sh register -gp $WORKSPACE/o3de-extras/Gems/ROS2 && \
-        git clone $LOFT_GEM_REPO && \
-        git -C $WORKSPACE/loft-arch-vis-sample checkout $LOFT_GEM_BRANCH &&\
+        git clone ${LOFT_GEM_REPO} --depth 1 -b ${LOFT_GEM_BRANCH} $WORKSPACE/loft-arch-vis-sample && \
         git -C $WORKSPACE/loft-arch-vis-sample lfs install && \
         git -C $WORKSPACE/loft-arch-vis-sample lfs pull && \
-        $WORKSPACE/o3de/scripts/o3de.sh register -gp $WORKSPACE/loft-arch-vis-sample/Gems/ArchVis/ && \
-        git clone $ROBOT_VAC_SAMPLE_REPO && \
-        git -C $WORKSPACE/RobotVacuumSample checkout $ROBOT_VAC_SAMPLE_BRANCH &&\
+        ${O3DE_INSTALL_DIR}/scripts/o3de.sh register -gp $WORKSPACE/loft-arch-vis-sample/Gems/ArchVis; \
+    fi
+
+# Clone and register the Robot Vacuum Sample project
+RUN if [ "${IMAGE_TYPE}" = "simulation" ]; then \
+        git clone ${ROBOT_VAC_SAMPLE_REPO} --depth 1 -b ${ROBOT_VAC_SAMPLE_BRANCH} $WORKSPACE/RobotVacuumSample && \
         git -C $WORKSPACE/RobotVacuumSample lfs install && \
         git -C $WORKSPACE/RobotVacuumSample lfs pull && \
-        $WORKSPACE/o3de/scripts/o3de.sh register -pp $WORKSPACE/RobotVacuumSample/  && \
-        . /opt/ros/${ROS_VERSION}/setup.sh && \
-        cmake -B $WORKSPACE/RobotVacuumSample/build/linux -S $WORKSPACE/RobotVacuumSample -G "Ninja Multi-Config" -DLY_STRIP_DEBUG_SYMBOLS=TRUE -DLY_DISABLE_TEST_MODULES=ON && \
-        cmake --build $WORKSPACE/RobotVacuumSample/build/linux --config profile --target AssetProcessorBatch RobotVacuumSample.GameLauncher RobotVacuumSample.Assets -j $CMAKE_JOBS && \
-        $WORKSPACE/cleanup.bash; \
-    elif [  "${IMAGE_TYPE}" = "navstack" ]; then \
-        apt-get install -y --no-install-recommends ros-${ROS_DISTRO}-desktop && \
-        cd $WORKSPACE && \
-        git clone --recursive $ROBOT_VAC_SAMPLE_REPO && \
-        git -C $WORKSPACE/RobotVacuumSample checkout $ROBOT_VAC_SAMPLE_BRANCH; \
+        ${O3DE_INSTALL_DIR}/scripts/o3de.sh register -pp $WORKSPACE/RobotVacuumSample; \
+    elif [ "${IMAGE_TYPE}" = "navstack" ]; then \
+        git clone --depth 1 -b ${ROBOT_VAC_SAMPLE_BRANCH} ${ROBOT_VAC_SAMPLE_REPO} $WORKSPACE/RobotVacuumSample; \
     else \
         echo "Unsupported IMAGE_TYPE: ${IMAGE_TYPE}" && exit 1; \
     fi
+RUN apt-get install -y --no-install-recommends 
+
+# Build the project
+RUN if [ "${IMAGE_TYPE}" = "simulation" ]; then \
+        . /opt/ros/${ROS_DISTRO}/setup.sh && \
+        cmake -B $WORKSPACE/RobotVacuumSample/build/linux \
+              -S $WORKSPACE/RobotVacuumSample \
+              -G "Ninja Multi-Config" \
+              -DLY_STRIP_DEBUG_SYMBOLS=TRUE \
+              -DLY_DISABLE_TEST_MODULES=ON && \
+        cmake --build $WORKSPACE/RobotVacuumSample/build/linux \
+              --config profile \
+              --target RobotVacuumSample RobotVacuumSample.GameLauncher RobotVacuumSample.Assets; \
+    fi
+
+# Remove source files of Loft scene to reduce image size
+RUN rm -rf $WORKSPACE/loft-arch-vis-sample
 
 COPY LaunchSimulation.bash /data/workspace/LaunchSimulation.bash
 COPY LaunchNavStack.bash /data/workspace/LaunchNavStack.bash
 
-ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp 
+ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
 ENV LAUNCH_FULLSCREEN_OPT=0
-ENV NVIDIA_VISIBLE_DEVICES all
-ENV NVIDIA_DRIVER_CAPABILITIES all
- 
+ENV NVIDIA_VISIBLE_DEVICES=all
+ENV NVIDIA_DRIVER_CAPABILITIES=all
+
 ENTRYPOINT ["/bin/bash", "-c"]
Original file line number	Diff line number	Diff line change
Expand Up		@@ -17,4 +17,4 @@ When creating a pull request to this repository, make sure that:

		### Additional information

		We recommend you to read [O3DE contribution guide](https://github.com/o3de/community/blob/main/CONTRIBUTING.md) and [ROS contribution guide](https://docs.ros.org/en/humble/Contributing.html) as well.
		We recommend you to read [O3DE contribution guide](https://github.com/o3de/community/blob/main/CONTRIBUTING.md) and [ROS contribution guide](https://docs.ros.org/en/jazzy/Contributing.html) as well.