From fa9878764f2620af61f7484435635cc9fc1da8bd Mon Sep 17 00:00:00 2001
From: Matthijs van der Burgh <MatthijsBurgh@outlook.com>
Date: Tue, 19 Sep 2023 09:53:20 +0200
Subject: [PATCH 01/19] (actions) also generate rolling

---
 .github/workflows/main.yml | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index 4cb0b4b99..9e0cc4fe6 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -44,6 +44,15 @@ jobs:
             ros-version: 2
             platform: "amd64"
             base-image: "ubuntu:22.04"
+          - ros-distro: rolling
+            ros-version: 2
+            platform: "amd64"
+            flavor: u20
+          - ros-distro: rolling
+            ros-version: 2
+            platform: "amd64"
+            base-image: "ubuntu:22.04"
+            flavor: u22
     outputs:
       key: ${{ steps.artifacts.outputs.key }}
       tag: ${{ steps.script.outputs.tag }}

From 022303c96cd8140223a890138f5da484d6be7991 Mon Sep 17 00:00:00 2001
From: Matthijs van der Burgh <matthijs.van.der.burgh@vbti.nl>
Date: Tue, 19 Sep 2023 10:18:43 +0200
Subject: [PATCH 02/19] (bootstrap) also support rolling

---
 installer/bootstrap.bash | 24 +++++++++++++++++++++++-
 1 file changed, 23 insertions(+), 1 deletion(-)

diff --git a/installer/bootstrap.bash b/installer/bootstrap.bash
index e364be820..6d7d902e2 100755
--- a/installer/bootstrap.bash
+++ b/installer/bootstrap.bash
@@ -49,6 +49,9 @@ case $DISTRIB_RELEASE in
             elif [[ "${ros_distro}" == "galactic" ]]
             then
                 TUE_ROS_DISTRO=galactic
+            elif [[ "${ros_distro}" == "rolling" ]]
+            then
+                TUE_ROS_DISTRO=rolling
             elif [[ -n "${ros_distro}" ]]
             then
                 echo "[tue-env](bootstrap) Error! ROS ${ros_distro} is unsupported with tue-env."
@@ -72,8 +75,27 @@ case $DISTRIB_RELEASE in
         fi
         ;;
     "22.04")
-        TUE_ROS_DISTRO=humble
+        if [[ -n "${ros_version}" ]] && [[ "${ros_version}" -ne 2 ]]
+        then
+             echo "[tue-env](bootstrap) Error! Only ROS version 2 is supported with ubuntu 22.04 and newer"
+             exit 1
+        fi
         TUE_ROS_VERSION=2
+
+        if [[ "${ros_distro}" == "humble" ]]
+        then
+            TUE_ROS_DISTRO=humble
+        elif [[ "${ros_distro}" == "rolling" ]]
+        then
+            TUE_ROS_DISTRO=rolling
+        elif [[ -n "${ros_distro}" ]]
+        then
+            echo "[tue-env](bootstrap) Error! ROS ${ros_distro} is unsupported with tue-env."
+            exit 1
+        else
+            TUE_ROS_DISTRO=humble
+            echo "[tue-env](bootstrap) Using default ROS_DISTRO '${TUE_ROS_DISTRO}' with ROS_VERSION '${TUE_ROS_VERSION}'"
+        fi
         ;;
     *)
         echo "[tue-env](bootstrap) Ubuntu $DISTRIB_RELEASE is unsupported. Please use one of Ubuntu 20.04 or 22.04."

From 1071c6c63b9b0bf627d942187aedab1181f77c24 Mon Sep 17 00:00:00 2001
From: Matthijs van der Burgh <matthijs.van.der.burgh@vbti.nl>
Date: Tue, 19 Sep 2023 11:01:49 +0200
Subject: [PATCH 03/19] (target_setup) paths are relative to TUE_ENV_DIR

---
 setup/generate_setup_file.py | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/setup/generate_setup_file.py b/setup/generate_setup_file.py
index d66c04f04..98172410a 100755
--- a/setup/generate_setup_file.py
+++ b/setup/generate_setup_file.py
@@ -1,6 +1,6 @@
 #! /usr/bin/env python3
 
-from typing import IO, List
+from typing import List
 
 import os
 import sys
@@ -59,7 +59,8 @@ def _generate_setup_file_rec(self, target: str) -> List[str]:
 
         target_setup_file = os.path.join(self._tue_env_targets_dir, target, "setup")
         if os.path.isfile(target_setup_file):
-            lines.append(f"source {target_setup_file}\n")
+            rel_target_setup_file = os.path.relpath(target_setup_file, self._tue_env_dir)
+            lines.append(f"source ${{TUE_ENV_DIR}}/{rel_target_setup_file}\n")
 
         return lines
 

From 41524ceed6a295605a1a91bcd85352238934f779 Mon Sep 17 00:00:00 2001
From: Matthijs van der Burgh <matthijs.van.der.burgh@vbti.nl>
Date: Tue, 19 Sep 2023 11:53:12 +0200
Subject: [PATCH 04/19] (CI)(organization-packages) new action

---
 ci/organization-packages.sh          | 39 ++++++++++++++++++++++++++++
 ci/organization-packages/action.yaml | 36 +++++++++++++++++++++++++
 2 files changed, 75 insertions(+)
 create mode 100644 ci/organization-packages.sh
 create mode 100644 ci/organization-packages/action.yaml

diff --git a/ci/organization-packages.sh b/ci/organization-packages.sh
new file mode 100644
index 000000000..88d116a03
--- /dev/null
+++ b/ci/organization-packages.sh
@@ -0,0 +1,39 @@
+#! /usr/bin/env bash
+
+for i in "$@"
+do
+    case $i in
+        -o=* | --organization=* )
+            ORGANIZATION="${i#*=}"
+            ;;
+        -t=* | --type=* )
+            PACKAGE_TYPE="${i#*=}"
+            ;;
+        * )
+            # unknown option
+            if [[ -n "${i}" ]]  # Ignore empty arguments
+            then
+                echo -e "\e[35m\e[1mUnknown input argument '${i}'. Check CI .yml file\e[0m"
+                exit 1
+            fi
+            ;;
+    esac
+    shift
+done
+
+echo -e "\e[35m\e[1mORGANIZATION = ${ORGANIZATION}\e[0m"
+echo -e "\e[35m\e[1mPACKAGE_TYPE = ${PACKAGE_TYPE}\e[0m"
+
+echo -e "\e[1mgh api -H \"Accept: application/vnd.github+json\" -H \"X-GitHub-Api-Version: 2022-11-28\" /orgs/${ORGANIZATION}/packages?package_type=${PACKAGE_TYPE} | jq -rc '.[].name'\e[0m"
+packages=$(gh api -H "Accept: application/vnd.github+json" -H "X-GitHub-Api-Version: 2022-11-28" /orgs/"${ORGANIZATION}"/packages?package_type="${PACKAGE_TYPE}" | jq -rc '.[].name')
+
+echo -e "\e[35m\e[1mpackages:\e[0m"
+for pkg in ${packages}
+do
+echo -e "\e[35m\e[1m  ${pkg}\e[0m"
+done
+for pkg in ${packages}
+do
+packages_list="${packages_list:+$packages_list, }'${pkg}'"
+done
+packages_list="[${packages_list}]"
diff --git a/ci/organization-packages/action.yaml b/ci/organization-packages/action.yaml
new file mode 100644
index 000000000..d1a25bd97
--- /dev/null
+++ b/ci/organization-packages/action.yaml
@@ -0,0 +1,36 @@
+name: 'Organization packages'
+description: 'Get the names of the packages in an organization'
+inputs:
+  package-type:
+    description: 'Type of the packages'
+    required: true
+    type: string
+    default: 'container'
+  organization:
+    description: 'Name of the organization'
+    required: true
+    type: string
+    default: ${{ github.repository_owner }}
+  token:
+    description: 'GitHub token'
+    required: true
+    default: ${{ github.token }}
+outputs:
+  packages:
+    description: 'Package names'
+    value: ${{ steps.packages.outputs.packages }}
+runs:
+  using: "composite"
+  steps:
+    - name: Organization packages
+      id: packages
+      run: |
+        source ${{ github.action_path }}/../organization-packages.sh --organization=${{ inputs.organization }} --type=${{ inputs.package-type }}
+        echo -e "\e[35m\e[1mpackages=${packages_list} >> \${GITHUB_OUTPUT}\e[0m"
+        echo "packages=${packages_list}" >> ${GITHUB_OUTPUT}
+      shell: bash --noprofile --norc -o pipefail {0}
+      env:
+        GH_TOKEN: ${{ inputs.token }}
+
+
+

From e14ca36edad0b9824559c468d74a7b82c7eee6fe Mon Sep 17 00:00:00 2001
From: Matthijs van der Burgh <matthijs.van.der.burgh@vbti.nl>
Date: Tue, 19 Sep 2023 11:59:25 +0200
Subject: [PATCH 05/19] (actions) use organization-packages action

---
 .github/workflows/cleanup_container_tags.yml      | 15 ++++++++++++++-
 .github/workflows/cleanup_untagged_containers.yml | 15 ++++++++++++++-
 2 files changed, 28 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/cleanup_container_tags.yml b/.github/workflows/cleanup_container_tags.yml
index 68a30b88e..b73b323a3 100644
--- a/.github/workflows/cleanup_container_tags.yml
+++ b/.github/workflows/cleanup_container_tags.yml
@@ -3,13 +3,26 @@ name: Cleanup container tags
 on: delete
 
 jobs:
+  organization_containers:
+    name: Get all containers in the organization
+    runs-on: ubuntu-latest
+    outputs:
+      packages: ${{ steps.organization-containers.outputs.packages }}
+    steps:
+      - name: Organization containers
+        id: organization_containers
+        uses: tue-robotics/tue-env/ci/organization-packages@master
+        with:
+          package-type: container
+
   delete_container_tag:
     name: Delete container tag
     runs-on: ubuntu-latest
+    needs: organization_containers
     strategy:
       fail-fast: false
       matrix:
-        package_name: ["tue-env-ros-noetic", "tue-env-ros-galactic", "tue-env-ros-humble"]
+        package_name: ${{ fromJson(needs.organization_containers.outputs.packages) }}
     steps:
       - name: Generate tag
         id: generate-tag
diff --git a/.github/workflows/cleanup_untagged_containers.yml b/.github/workflows/cleanup_untagged_containers.yml
index 968f11687..df297b815 100644
--- a/.github/workflows/cleanup_untagged_containers.yml
+++ b/.github/workflows/cleanup_untagged_containers.yml
@@ -6,13 +6,26 @@ on:
   workflow_dispatch:
 
 jobs:
+  organization_containers:
+    name: Get all containers in the organization
+    runs-on: ubuntu-latest
+    outputs:
+      packages: ${{ steps.organization-containers.outputs.packages }}
+    steps:
+      - name: Organization containers
+        id: organization_containers
+        uses: tue-robotics/tue-env/ci/organization-packages@MatthijsBurgh-patch-1
+        with:
+          package-type: container
+
   delete_untagged_containers:
     name: Delete untagged containers
     runs-on: ubuntu-latest
+    needs: organization_containers
     strategy:
       fail-fast: false
       matrix:
-        package_name: ["tue-env-ros-noetic", "tue-env-ros-galactic", "tue-env-ros-humble"]
+        package_name: ${{ fromJson(needs.organization_containers.outputs.packages) }}
     steps:
       - uses: actions/delete-package-versions@v4
         with:

From bdc76f01a8bf92070219916489c193857eb61875 Mon Sep 17 00:00:00 2001
From: Matthijs van der Burgh <matthijs.van.der.burgh@vbti.nl>
Date: Tue, 19 Sep 2023 13:57:12 +0200
Subject: [PATCH 06/19] (CI)(organization-packages) add type to token input

---
 ci/organization-packages/action.yaml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/ci/organization-packages/action.yaml b/ci/organization-packages/action.yaml
index d1a25bd97..75645b396 100644
--- a/ci/organization-packages/action.yaml
+++ b/ci/organization-packages/action.yaml
@@ -14,6 +14,7 @@ inputs:
   token:
     description: 'GitHub token'
     required: true
+    type: string
     default: ${{ github.token }}
 outputs:
   packages:

From 603d450a7732499f28c978afb74dd4508b4362f6 Mon Sep 17 00:00:00 2001
From: Matthijs van der Burgh <matthijs.van.der.burgh@vbti.nl>
Date: Tue, 19 Sep 2023 14:01:29 +0200
Subject: [PATCH 07/19] (CI)(organization-packages) use curl instead of GH api

---
 ci/organization-packages.sh | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/ci/organization-packages.sh b/ci/organization-packages.sh
index 88d116a03..ba8eb8173 100644
--- a/ci/organization-packages.sh
+++ b/ci/organization-packages.sh
@@ -24,8 +24,8 @@ done
 echo -e "\e[35m\e[1mORGANIZATION = ${ORGANIZATION}\e[0m"
 echo -e "\e[35m\e[1mPACKAGE_TYPE = ${PACKAGE_TYPE}\e[0m"
 
-echo -e "\e[1mgh api -H \"Accept: application/vnd.github+json\" -H \"X-GitHub-Api-Version: 2022-11-28\" /orgs/${ORGANIZATION}/packages?package_type=${PACKAGE_TYPE} | jq -rc '.[].name'\e[0m"
-packages=$(gh api -H "Accept: application/vnd.github+json" -H "X-GitHub-Api-Version: 2022-11-28" /orgs/"${ORGANIZATION}"/packages?package_type="${PACKAGE_TYPE}" | jq -rc '.[].name')
+echo -e "\e[1mcurl -L -H \"Accept: application/vnd.github+json\" -H \"Authorization: Bearer \${GH_TOKEN}\" -H \"X-GitHub-Api-Version: 2022-11-28\" https://api.github.com/orgs/${ORGANIZATION}/packages?package_type=${PACKAGE_TYPE} | jq -rc '.[].name'\e0m"
+packages=$(curl -L -H "Accept: application/vnd.github+json" -H "Authorization: Bearer ${GH_TOKEN}" -H "X-GitHub-Api-Version: 2022-11-28" https://api.github.com/orgs/"${ORGANIZATION}"/packages?package_type="${PACKAGE_TYPE}" | jq -rc '.[].name')
 
 echo -e "\e[35m\e[1mpackages:\e[0m"
 for pkg in ${packages}

From 477efd6cd65be28f0132eb045fcf0cbc359d38b2 Mon Sep 17 00:00:00 2001
From: Matthijs van der Burgh <matthijs.van.der.burgh@vbti.nl>
Date: Tue, 19 Sep 2023 14:10:45 +0200
Subject: [PATCH 08/19] (CI)(organization-packages) debugging

---
 ci/organization-packages.sh | 13 ++++++++++++-
 1 file changed, 12 insertions(+), 1 deletion(-)

diff --git a/ci/organization-packages.sh b/ci/organization-packages.sh
index ba8eb8173..3d14920da 100644
--- a/ci/organization-packages.sh
+++ b/ci/organization-packages.sh
@@ -24,8 +24,19 @@ done
 echo -e "\e[35m\e[1mORGANIZATION = ${ORGANIZATION}\e[0m"
 echo -e "\e[35m\e[1mPACKAGE_TYPE = ${PACKAGE_TYPE}\e[0m"
 
+echo -e "\e[1mgh api -H \"Accept: application/vnd.github+json\" -H \"X-GitHub-Api-Version: 2022-11-28\" /orgs/${ORGANIZATION}/packages?package_type=${PACKAGE_TYPE} | jq -rc '.[].name'\e[0m"
+output=$(gh api -H "Accept: application/vnd.github+json" -H "X-GitHub-Api-Version: 2022-11-28" /orgs/"${ORGANIZATION}"/packages?package_type="${PACKAGE_TYPE}")
+echo -e "return value: $?"
+echo -e "output: ${output}"
+packages=$(jq -rc '.[].name' <<< "${output}")
+echo -e "packages:\n${packages}"
+packages=$(gh api -H "Accept: application/vnd.github+json" -H "X-GitHub-Api-Version: 2022-11-28" /orgs/"${ORGANIZATION}"/packages?package_type="${PACKAGE_TYPE}" | jq -rc '.[].name')
 echo -e "\e[1mcurl -L -H \"Accept: application/vnd.github+json\" -H \"Authorization: Bearer \${GH_TOKEN}\" -H \"X-GitHub-Api-Version: 2022-11-28\" https://api.github.com/orgs/${ORGANIZATION}/packages?package_type=${PACKAGE_TYPE} | jq -rc '.[].name'\e0m"
-packages=$(curl -L -H "Accept: application/vnd.github+json" -H "Authorization: Bearer ${GH_TOKEN}" -H "X-GitHub-Api-Version: 2022-11-28" https://api.github.com/orgs/"${ORGANIZATION}"/packages?package_type="${PACKAGE_TYPE}" | jq -rc '.[].name')
+output=$(curl -L -H "Accept: application/vnd.github+json" -H "Authorization: Bearer ${GH_TOKEN}" -H "X-GitHub-Api-Version: 2022-11-28" https://api.github.com/orgs/"${ORGANIZATION}"/packages?package_type="${PACKAGE_TYPE}")
+echo -e "return value: $?"
+echo -e "output: ${output}"
+packages=$(jq -rc '.[].name' <<< "${output}")
+echo -e "packages:\n${packages}
 
 echo -e "\e[35m\e[1mpackages:\e[0m"
 for pkg in ${packages}

From 4f6da4dac89cda870801b91023424752c5c52afb Mon Sep 17 00:00:00 2001
From: Matthijs van der Burgh <matthijs.van.der.burgh@vbti.nl>
Date: Tue, 19 Sep 2023 14:14:51 +0200
Subject: [PATCH 09/19] (CI)(organization-packages) add per_page & page

---
 ci/organization-packages.sh | 9 ++++-----
 1 file changed, 4 insertions(+), 5 deletions(-)

diff --git a/ci/organization-packages.sh b/ci/organization-packages.sh
index 3d14920da..c757f32b4 100644
--- a/ci/organization-packages.sh
+++ b/ci/organization-packages.sh
@@ -24,15 +24,14 @@ done
 echo -e "\e[35m\e[1mORGANIZATION = ${ORGANIZATION}\e[0m"
 echo -e "\e[35m\e[1mPACKAGE_TYPE = ${PACKAGE_TYPE}\e[0m"
 
-echo -e "\e[1mgh api -H \"Accept: application/vnd.github+json\" -H \"X-GitHub-Api-Version: 2022-11-28\" /orgs/${ORGANIZATION}/packages?package_type=${PACKAGE_TYPE} | jq -rc '.[].name'\e[0m"
-output=$(gh api -H "Accept: application/vnd.github+json" -H "X-GitHub-Api-Version: 2022-11-28" /orgs/"${ORGANIZATION}"/packages?package_type="${PACKAGE_TYPE}")
+echo -e "\e[1mgh api -H \"Accept: application/vnd.github+json\" -H \"X-GitHub-Api-Version: 2022-11-28\" /orgs/${ORGANIZATION}/packages?package_type=${PACKAGE_TYPE}&per_page=100&page=1 | jq -rc '.[].name'\e[0m"
+output=$(gh api -H "Accept: application/vnd.github+json" -H "X-GitHub-Api-Version: 2022-11-28" /orgs/"${ORGANIZATION}"/packages?package_type="${PACKAGE_TYPE}"&per_page=100&page=1)
 echo -e "return value: $?"
 echo -e "output: ${output}"
 packages=$(jq -rc '.[].name' <<< "${output}")
 echo -e "packages:\n${packages}"
-packages=$(gh api -H "Accept: application/vnd.github+json" -H "X-GitHub-Api-Version: 2022-11-28" /orgs/"${ORGANIZATION}"/packages?package_type="${PACKAGE_TYPE}" | jq -rc '.[].name')
-echo -e "\e[1mcurl -L -H \"Accept: application/vnd.github+json\" -H \"Authorization: Bearer \${GH_TOKEN}\" -H \"X-GitHub-Api-Version: 2022-11-28\" https://api.github.com/orgs/${ORGANIZATION}/packages?package_type=${PACKAGE_TYPE} | jq -rc '.[].name'\e0m"
-output=$(curl -L -H "Accept: application/vnd.github+json" -H "Authorization: Bearer ${GH_TOKEN}" -H "X-GitHub-Api-Version: 2022-11-28" https://api.github.com/orgs/"${ORGANIZATION}"/packages?package_type="${PACKAGE_TYPE}")
+echo -e "\e[1mcurl -L -H \"Accept: application/vnd.github+json\" -H \"Authorization: Bearer \${GH_TOKEN}\" -H \"X-GitHub-Api-Version: 2022-11-28\" https://api.github.com/orgs/${ORGANIZATION}/packages?package_type=${PACKAGE_TYPE}&per_page=100&page=1 | jq -rc '.[].name'\e0m"
+output=$(curl -L -H "Accept: application/vnd.github+json" -H "Authorization: Bearer ${GH_TOKEN}" -H "X-GitHub-Api-Version: 2022-11-28" https://api.github.com/orgs/"${ORGANIZATION}"/packages?package_type="${PACKAGE_TYPE}"&per_page=100&page=1)
 echo -e "return value: $?"
 echo -e "output: ${output}"
 packages=$(jq -rc '.[].name' <<< "${output}")

From 5e4a273f10490c1f20319e9c9ec62f908889751b Mon Sep 17 00:00:00 2001
From: Matthijs van der Burgh <matthijs.van.der.burgh@vbti.nl>
Date: Tue, 19 Sep 2023 14:21:15 +0200
Subject: [PATCH 10/19] (CI)(organization-packages) debugging

---
 ci/organization-packages.sh | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/ci/organization-packages.sh b/ci/organization-packages.sh
index c757f32b4..84837f749 100644
--- a/ci/organization-packages.sh
+++ b/ci/organization-packages.sh
@@ -24,18 +24,18 @@ done
 echo -e "\e[35m\e[1mORGANIZATION = ${ORGANIZATION}\e[0m"
 echo -e "\e[35m\e[1mPACKAGE_TYPE = ${PACKAGE_TYPE}\e[0m"
 
-echo -e "\e[1mgh api -H \"Accept: application/vnd.github+json\" -H \"X-GitHub-Api-Version: 2022-11-28\" /orgs/${ORGANIZATION}/packages?package_type=${PACKAGE_TYPE}&per_page=100&page=1 | jq -rc '.[].name'\e[0m"
-output=$(gh api -H "Accept: application/vnd.github+json" -H "X-GitHub-Api-Version: 2022-11-28" /orgs/"${ORGANIZATION}"/packages?package_type="${PACKAGE_TYPE}"&per_page=100&page=1)
+echo -e "\e[1mgh api -H \"Accept: application/vnd.github+json\" -H \"X-GitHub-Api-Version: 2022-11-28\" \"/orgs/${ORGANIZATION}/packages?package_type=${PACKAGE_TYPE}&per_page=100&page=1\" | jq -rc '.[].name'\e[0m"
+output=$(gh api -H "Accept: application/vnd.github+json" -H "X-GitHub-Api-Version: 2022-11-28" "/orgs/${ORGANIZATION}/packages?package_type=${PACKAGE_TYPE}&per_page=100&page=1")
 echo -e "return value: $?"
 echo -e "output: ${output}"
 packages=$(jq -rc '.[].name' <<< "${output}")
 echo -e "packages:\n${packages}"
-echo -e "\e[1mcurl -L -H \"Accept: application/vnd.github+json\" -H \"Authorization: Bearer \${GH_TOKEN}\" -H \"X-GitHub-Api-Version: 2022-11-28\" https://api.github.com/orgs/${ORGANIZATION}/packages?package_type=${PACKAGE_TYPE}&per_page=100&page=1 | jq -rc '.[].name'\e0m"
-output=$(curl -L -H "Accept: application/vnd.github+json" -H "Authorization: Bearer ${GH_TOKEN}" -H "X-GitHub-Api-Version: 2022-11-28" https://api.github.com/orgs/"${ORGANIZATION}"/packages?package_type="${PACKAGE_TYPE}"&per_page=100&page=1)
+echo -e "\e[1mcurl -L -H \"Accept: application/vnd.github+json\" -H \"Authorization: Bearer \${GH_TOKEN}\" -H \"X-GitHub-Api-Version: 2022-11-28\" \"https://api.github.com/orgs/${ORGANIZATION}/packages?package_type=${PACKAGE_TYPE}&per_page=100&page=1\" | jq -rc '.[].name'\e[0m"
+output=$(curl -L -H "Accept: application/vnd.github+json" -H "Authorization: Bearer ${GH_TOKEN}" -H "X-GitHub-Api-Version: 2022-11-28" "https://api.github.com/orgs/${ORGANIZATION}/packages?package_type=${PACKAGE_TYPE}&per_page=100&page=1")
 echo -e "return value: $?"
 echo -e "output: ${output}"
 packages=$(jq -rc '.[].name' <<< "${output}")
-echo -e "packages:\n${packages}
+echo -e "packages:\n${packages}"
 
 echo -e "\e[35m\e[1mpackages:\e[0m"
 for pkg in ${packages}

From 30f64c1bd712c0d389578fcc844f6b11ef8aecf5 Mon Sep 17 00:00:00 2001
From: Matthijs van der Burgh <matthijs.van.der.burgh@vbti.nl>
Date: Tue, 19 Sep 2023 14:29:15 +0200
Subject: [PATCH 11/19] (CI)(organization-packages)(TEMP) use MATTHIJS_TOKEN

---
 .github/workflows/cleanup_untagged_containers.yml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.github/workflows/cleanup_untagged_containers.yml b/.github/workflows/cleanup_untagged_containers.yml
index df297b815..5d968c406 100644
--- a/.github/workflows/cleanup_untagged_containers.yml
+++ b/.github/workflows/cleanup_untagged_containers.yml
@@ -17,6 +17,7 @@ jobs:
         uses: tue-robotics/tue-env/ci/organization-packages@MatthijsBurgh-patch-1
         with:
           package-type: container
+          token: ${{ secrets.MATTHIJS_TOKEN }}
 
   delete_untagged_containers:
     name: Delete untagged containers

From 41c88b7ce84821e407c70b4fcda26f7c51058a0a Mon Sep 17 00:00:00 2001
From: Matthijs van der Burgh <matthijs.van.der.burgh@vbti.nl>
Date: Tue, 19 Sep 2023 14:38:44 +0200
Subject: [PATCH 12/19] (actions) use READ_PACKAGES_TOKEN for container cleanup

---
 .github/workflows/cleanup_container_tags.yml      | 1 +
 .github/workflows/cleanup_untagged_containers.yml | 2 +-
 2 files changed, 2 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/cleanup_container_tags.yml b/.github/workflows/cleanup_container_tags.yml
index b73b323a3..e6b94a65a 100644
--- a/.github/workflows/cleanup_container_tags.yml
+++ b/.github/workflows/cleanup_container_tags.yml
@@ -14,6 +14,7 @@ jobs:
         uses: tue-robotics/tue-env/ci/organization-packages@master
         with:
           package-type: container
+          token: ${{ secrets.READ_PACKAGES_TOKEN }}
 
   delete_container_tag:
     name: Delete container tag
diff --git a/.github/workflows/cleanup_untagged_containers.yml b/.github/workflows/cleanup_untagged_containers.yml
index 5d968c406..5bdac57e1 100644
--- a/.github/workflows/cleanup_untagged_containers.yml
+++ b/.github/workflows/cleanup_untagged_containers.yml
@@ -17,7 +17,7 @@ jobs:
         uses: tue-robotics/tue-env/ci/organization-packages@MatthijsBurgh-patch-1
         with:
           package-type: container
-          token: ${{ secrets.MATTHIJS_TOKEN }}
+          token: ${{ secrets.READ_PACKAGES_TOKEN }}
 
   delete_untagged_containers:
     name: Delete untagged containers

From 9c77b4707c0e7ca07e610f8739b340bf2c2273c3 Mon Sep 17 00:00:00 2001
From: Matthijs van der Burgh <matthijs.van.der.burgh@vbti.nl>
Date: Tue, 19 Sep 2023 14:58:39 +0200
Subject: [PATCH 13/19] (CI)(organization-packages) working version

---
 ci/organization-packages.sh          | 30 ++++++++++++----------------
 ci/organization-packages/action.yaml |  7 +------
 2 files changed, 14 insertions(+), 23 deletions(-)

diff --git a/ci/organization-packages.sh b/ci/organization-packages.sh
index 84837f749..665964471 100644
--- a/ci/organization-packages.sh
+++ b/ci/organization-packages.sh
@@ -9,6 +9,9 @@ do
         -t=* | --type=* )
             PACKAGE_TYPE="${i#*=}"
             ;;
+        --token=* )
+            TOKEN="${i#*=}"
+            ;;
         * )
             # unknown option
             if [[ -n "${i}" ]]  # Ignore empty arguments
@@ -23,27 +26,20 @@ done
 
 echo -e "\e[35m\e[1mORGANIZATION = ${ORGANIZATION}\e[0m"
 echo -e "\e[35m\e[1mPACKAGE_TYPE = ${PACKAGE_TYPE}\e[0m"
+echo -e "\e[35m\e[1mTOKEN length = ${#TOKEN}\e[0m"
 
-echo -e "\e[1mgh api -H \"Accept: application/vnd.github+json\" -H \"X-GitHub-Api-Version: 2022-11-28\" \"/orgs/${ORGANIZATION}/packages?package_type=${PACKAGE_TYPE}&per_page=100&page=1\" | jq -rc '.[].name'\e[0m"
-output=$(gh api -H "Accept: application/vnd.github+json" -H "X-GitHub-Api-Version: 2022-11-28" "/orgs/${ORGANIZATION}/packages?package_type=${PACKAGE_TYPE}&per_page=100&page=1")
-echo -e "return value: $?"
-echo -e "output: ${output}"
-packages=$(jq -rc '.[].name' <<< "${output}")
-echo -e "packages:\n${packages}"
-echo -e "\e[1mcurl -L -H \"Accept: application/vnd.github+json\" -H \"Authorization: Bearer \${GH_TOKEN}\" -H \"X-GitHub-Api-Version: 2022-11-28\" \"https://api.github.com/orgs/${ORGANIZATION}/packages?package_type=${PACKAGE_TYPE}&per_page=100&page=1\" | jq -rc '.[].name'\e[0m"
-output=$(curl -L -H "Accept: application/vnd.github+json" -H "Authorization: Bearer ${GH_TOKEN}" -H "X-GitHub-Api-Version: 2022-11-28" "https://api.github.com/orgs/${ORGANIZATION}/packages?package_type=${PACKAGE_TYPE}&per_page=100&page=1")
-echo -e "return value: $?"
-echo -e "output: ${output}"
-packages=$(jq -rc '.[].name' <<< "${output}")
-echo -e "packages:\n${packages}"
+echo "::group::curl -L -H \"Accept: application/vnd.github+json\" -H \"Authorization: Bearer \${TOKEN}\" -H \"X-GitHub-Api-Version: 2022-11-28\" \"https://api.github.com/orgs/${ORGANIZATION}/packages?package_type=${PACKAGE_TYPE}&per_page=100&page=1\""
+echo -e "\e[1mcurl -L -H \"Accept: application/vnd.github+json\" -H \"Authorization: Bearer \${TOKEN}\" -H \"X-GitHub-Api-Version: 2022-11-28\" \"https://api.github.com/orgs/${ORGANIZATION}/packages?package_type=${PACKAGE_TYPE}&per_page=100&page=1\""
+output=$(curl -L -H "Accept: application/vnd.github+json" -H "Authorization: Bearer ${TOKEN}" -H "X-GitHub-Api-Version: 2022-11-28" "https://api.github.com/orgs/${ORGANIZATION}/packages?package_type=${PACKAGE_TYPE}&per_page=100&page=1")
+echo -e "${output}" | jq
+echo "::endgroup::"
 
+echo -e "\e[1mjq -r '.[].name'\e[0m"
+packages=$(jq -r '.[].name' <<< "${output}")
 echo -e "\e[35m\e[1mpackages:\e[0m"
 for pkg in ${packages}
 do
-echo -e "\e[35m\e[1m  ${pkg}\e[0m"
-done
-for pkg in ${packages}
-do
-packages_list="${packages_list:+$packages_list, }'${pkg}'"
+    echo -e "\e[35m\e[1m  ${pkg}\e[0m"
+    packages_list="${packages_list:+$packages_list, }'${pkg}'"
 done
 packages_list="[${packages_list}]"
diff --git a/ci/organization-packages/action.yaml b/ci/organization-packages/action.yaml
index 75645b396..889c35aad 100644
--- a/ci/organization-packages/action.yaml
+++ b/ci/organization-packages/action.yaml
@@ -26,12 +26,7 @@ runs:
     - name: Organization packages
       id: packages
       run: |
-        source ${{ github.action_path }}/../organization-packages.sh --organization=${{ inputs.organization }} --type=${{ inputs.package-type }}
+        source ${{ github.action_path }}/../organization-packages.sh --organization=${{ inputs.organization }} --type=${{ inputs.package-type }} --token=${{ inputs.token }}
         echo -e "\e[35m\e[1mpackages=${packages_list} >> \${GITHUB_OUTPUT}\e[0m"
         echo "packages=${packages_list}" >> ${GITHUB_OUTPUT}
       shell: bash --noprofile --norc -o pipefail {0}
-      env:
-        GH_TOKEN: ${{ inputs.token }}
-
-
-

From e482e24d5229be7e40a1c0dfddc91f8ebdfdc12e Mon Sep 17 00:00:00 2001
From: Matthijs van der Burgh <matthijs.van.der.burgh@vbti.nl>
Date: Tue, 19 Sep 2023 15:02:08 +0200
Subject: [PATCH 14/19] (CI)fix: cleanup workflows

---
 .github/workflows/cleanup_container_tags.yml      | 2 +-
 .github/workflows/cleanup_untagged_containers.yml | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/cleanup_container_tags.yml b/.github/workflows/cleanup_container_tags.yml
index e6b94a65a..7a0c15282 100644
--- a/.github/workflows/cleanup_container_tags.yml
+++ b/.github/workflows/cleanup_container_tags.yml
@@ -7,7 +7,7 @@ jobs:
     name: Get all containers in the organization
     runs-on: ubuntu-latest
     outputs:
-      packages: ${{ steps.organization-containers.outputs.packages }}
+      packages: ${{ steps.organization_containers.outputs.packages }}
     steps:
       - name: Organization containers
         id: organization_containers
diff --git a/.github/workflows/cleanup_untagged_containers.yml b/.github/workflows/cleanup_untagged_containers.yml
index 5bdac57e1..d84729159 100644
--- a/.github/workflows/cleanup_untagged_containers.yml
+++ b/.github/workflows/cleanup_untagged_containers.yml
@@ -10,7 +10,7 @@ jobs:
     name: Get all containers in the organization
     runs-on: ubuntu-latest
     outputs:
-      packages: ${{ steps.organization-containers.outputs.packages }}
+      packages: ${{ steps.organization_containers.outputs.packages }}
     steps:
       - name: Organization containers
         id: organization_containers

From ee9894d40ee25d48c40882ca62009e5b98771213 Mon Sep 17 00:00:00 2001
From: Matthijs van der Burgh <matthijs.van.der.burgh@vbti.nl>
Date: Tue, 19 Sep 2023 15:09:31 +0200
Subject: [PATCH 15/19] (CI)(organization-packages) colorize jq

---
 ci/organization-packages.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ci/organization-packages.sh b/ci/organization-packages.sh
index 665964471..0e93ce865 100644
--- a/ci/organization-packages.sh
+++ b/ci/organization-packages.sh
@@ -31,7 +31,7 @@ echo -e "\e[35m\e[1mTOKEN length = ${#TOKEN}\e[0m"
 echo "::group::curl -L -H \"Accept: application/vnd.github+json\" -H \"Authorization: Bearer \${TOKEN}\" -H \"X-GitHub-Api-Version: 2022-11-28\" \"https://api.github.com/orgs/${ORGANIZATION}/packages?package_type=${PACKAGE_TYPE}&per_page=100&page=1\""
 echo -e "\e[1mcurl -L -H \"Accept: application/vnd.github+json\" -H \"Authorization: Bearer \${TOKEN}\" -H \"X-GitHub-Api-Version: 2022-11-28\" \"https://api.github.com/orgs/${ORGANIZATION}/packages?package_type=${PACKAGE_TYPE}&per_page=100&page=1\""
 output=$(curl -L -H "Accept: application/vnd.github+json" -H "Authorization: Bearer ${TOKEN}" -H "X-GitHub-Api-Version: 2022-11-28" "https://api.github.com/orgs/${ORGANIZATION}/packages?package_type=${PACKAGE_TYPE}&per_page=100&page=1")
-echo -e "${output}" | jq
+echo -e "${output}" | jq -C
 echo "::endgroup::"
 
 echo -e "\e[1mjq -r '.[].name'\e[0m"

From f8bd95fdb3dc11a83122c39e3dae49cc19e0244d Mon Sep 17 00:00:00 2001
From: Matthijs van der Burgh <matthijs.van.der.burgh@vbti.nl>
Date: Tue, 19 Sep 2023 15:15:14 +0200
Subject: [PATCH 16/19] (CI) cleanup workflows using master

---
 .github/workflows/cleanup_untagged_containers.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/cleanup_untagged_containers.yml b/.github/workflows/cleanup_untagged_containers.yml
index d84729159..4badcf0fc 100644
--- a/.github/workflows/cleanup_untagged_containers.yml
+++ b/.github/workflows/cleanup_untagged_containers.yml
@@ -14,7 +14,7 @@ jobs:
     steps:
       - name: Organization containers
         id: organization_containers
-        uses: tue-robotics/tue-env/ci/organization-packages@MatthijsBurgh-patch-1
+        uses: tue-robotics/tue-env/ci/organization-packages@master
         with:
           package-type: container
           token: ${{ secrets.READ_PACKAGES_TOKEN }}

From dfe55253b5798c2b11fe51b0486d7d2ed67d21df Mon Sep 17 00:00:00 2001
From: Matthijs van der Burgh <MatthijsBurgh@outlook.com>
Date: Tue, 19 Sep 2023 19:14:02 +0200
Subject: [PATCH 17/19] (actions) don't generate ROS2 U20 containers

---
 .github/workflows/main.yml | 7 -------
 1 file changed, 7 deletions(-)

diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index 9e0cc4fe6..02a47d72e 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -37,17 +37,10 @@ jobs:
           - ros-distro: noetic
             ros-version: 1
             platform: "amd64"
-          - ros-distro: galactic
-            ros-version: 2
-            platform: "amd64"
           - ros-distro: humble
             ros-version: 2
             platform: "amd64"
             base-image: "ubuntu:22.04"
-          - ros-distro: rolling
-            ros-version: 2
-            platform: "amd64"
-            flavor: u20
           - ros-distro: rolling
             ros-version: 2
             platform: "amd64"

From fe640ad18c497e5621a2e577aa8c8d2351fdde52 Mon Sep 17 00:00:00 2001
From: Matthijs van der Burgh <MatthijsBurgh@outlook.com>
Date: Tue, 19 Sep 2023 19:14:31 +0200
Subject: [PATCH 18/19] (actions)(docker) default base is u22

---
 .github/workflows/main.yml     | 2 +-
 ci/build-docker-image.sh       | 2 +-
 dockerfiles/tue-env.Dockerfile | 4 ++--
 3 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index 02a47d72e..f1ecdd46f 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -37,10 +37,10 @@ jobs:
           - ros-distro: noetic
             ros-version: 1
             platform: "amd64"
+            base-image: "ubuntu:20.04"
           - ros-distro: humble
             ros-version: 2
             platform: "amd64"
-            base-image: "ubuntu:22.04"
           - ros-distro: rolling
             ros-version: 2
             platform: "amd64"
diff --git a/ci/build-docker-image.sh b/ci/build-docker-image.sh
index 699d64454..afe39c71c 100755
--- a/ci/build-docker-image.sh
+++ b/ci/build-docker-image.sh
@@ -102,7 +102,7 @@ echo -e "\e[35;1mCI_TARGETS_REPO       = ${CI_TARGETS_REPO}\e[0m"
 [[ -z "$CI_DOCKER_LOGIN" ]] && CI_DOCKER_LOGIN="false"
 echo -e "\e[35;1mCI_DOCKER_LOGIN       = ${CI_DOCKER_LOGIN}\e[0m"
 
-[[ -z "$CI_DOCKER_BASE_IMAGE" ]] && CI_DOCKER_BASE_IMAGE="ubuntu:20.04"
+[[ -z "$CI_DOCKER_BASE_IMAGE" ]] && CI_DOCKER_BASE_IMAGE="ubuntu:22.04"
 echo -e "\e[35;1mCI_DOCKER_BASE_IMAGE  = ${CI_DOCKER_BASE_IMAGE}\e[0m"
 
 echo -e "\e[35;1mCI_DOCKER_REGISTRY    = ${CI_DOCKER_REGISTRY}\e[0m"
diff --git a/dockerfiles/tue-env.Dockerfile b/dockerfiles/tue-env.Dockerfile
index 5d761c1cc..5f123aa27 100644
--- a/dockerfiles/tue-env.Dockerfile
+++ b/dockerfiles/tue-env.Dockerfile
@@ -3,8 +3,8 @@
 #       Dockerfile to build working Ubuntu image with tue-env
 # ----------------------------------------------------------------
 
-# Set default base image to Ubuntu 20.04
-ARG BASE_IMAGE=ubuntu:20.04
+# Set default base image to Ubuntu 22.04
+ARG BASE_IMAGE=ubuntu:22.04
 FROM $BASE_IMAGE as base
 
 # ----------------------------------------------------------------

From e249bc5e255ba54e44deecdf7575cd3f761e6ea5 Mon Sep 17 00:00:00 2001
From: Matthijs van der Burgh <MatthijsBurgh@outlook.com>
Date: Tue, 19 Sep 2023 19:14:54 +0200
Subject: [PATCH 19/19] Bump VERSION to 1.13.0

---
 VERSION | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/VERSION b/VERSION
index f8f4f03b3..feaae22ba 100644
--- a/VERSION
+++ b/VERSION
@@ -1 +1 @@
-1.12.1
+1.13.0