From 0b386ea15967bab80cdb41c306424c2279f5538d Mon Sep 17 00:00:00 2001
From: Allison Thackston <73732028+althack@users.noreply.github.com>
Date: Sun, 16 Aug 2026 21:51:22 -0700
Subject: [PATCH] Support additional ROS 2 package variants

---
 .github/workflows/test-pr.yaml              |  1 +
 features/src/ros2/README.md                 |  2 +-
 features/src/ros2/devcontainer-feature.json |  8 ++++++--
 features/src/ros2/install.sh                |  9 ---------
 features/test/ros2/ros_core.sh              | 10 ++++++++++
 features/test/ros2/scenarios.json           |  4 ++++
 features/test/ros2/validate_config.py       | 17 +++++++++++++++++
 7 files changed, 39 insertions(+), 12 deletions(-)
 create mode 100755 features/test/ros2/ros_core.sh

diff --git a/.github/workflows/test-pr.yaml b/.github/workflows/test-pr.yaml
index 73914ca..57144bc 100644
--- a/.github/workflows/test-pr.yaml
+++ b/.github/workflows/test-pr.yaml
@@ -119,6 +119,7 @@ jobs:
         scenario:
           - humble
           - kilted
+          - ros_core
           - lyrical
           - osrf_ros
           - upstream_ros
diff --git a/features/src/ros2/README.md b/features/src/ros2/README.md
index 9af16eb..583ed6e 100644
--- a/features/src/ros2/README.md
+++ b/features/src/ros2/README.md
@@ -16,7 +16,7 @@ Install ROS 2 and the tools needed to develop ROS packages.
 | Options Id | Description | Type | Default Value |
 |-----|-----|-----|-----|
 | distro | ROS 2 distribution to install. By default, select the recommended distribution for the container's Ubuntu release. | string | auto |
-| package | ROS 2 metapackage to install. | string | desktop |
+| package | ROS 2 metapackage to install. Common variants are suggested. | string | desktop |
 | additionalPackages | Space-separated ROS package suffixes to install in addition to the selected metapackage, without the ros-<distro>- prefix. | string | - |
 | workspace | Workspace whose install/setup.sh file should be sourced when present. | string | ${containerWorkspaceFolder} |
 
diff --git a/features/src/ros2/devcontainer-feature.json b/features/src/ros2/devcontainer-feature.json
index 080138f..33fff96 100644
--- a/features/src/ros2/devcontainer-feature.json
+++ b/features/src/ros2/devcontainer-feature.json
@@ -21,11 +21,15 @@
     "package": {
       "type": "string",
       "proposals": [
+        "ros-core",
         "ros-base",
-        "desktop"
+        "desktop",
+        "perception",
+        "simulation",
+        "desktop-full"
       ],
       "default": "desktop",
-      "description": "ROS 2 metapackage to install."
+      "description": "ROS 2 metapackage to install. Common variants are suggested."
     },
     "additionalPackages": {
       "type": "string",
diff --git a/features/src/ros2/install.sh b/features/src/ros2/install.sh
index 414d3c7..034ef91 100755
--- a/features/src/ros2/install.sh
+++ b/features/src/ros2/install.sh
@@ -27,15 +27,6 @@ if [[ "${ID:-}" != "ubuntu" ]]; then
     exit 1
 fi
 
-case "${ros_package}" in
-    ros-base | desktop)
-        ;;
-    *)
-        echo "Unsupported ROS 2 package: ${ros_package}." >&2
-        exit 1
-        ;;
-esac
-
 export DEBIAN_FRONTEND=noninteractive
 
 apt-get update
diff --git a/features/test/ros2/ros_core.sh b/features/test/ros2/ros_core.sh
new file mode 100755
index 0000000..d058484
--- /dev/null
+++ b/features/test/ros2/ros_core.sh
@@ -0,0 +1,10 @@
+#!/usr/bin/env bash
+
+set -e
+source dev-container-features-test-lib
+
+check "ROS 2 Kilted is selected" bash -lc '[ "${ROS_DISTRO:-}" = "kilted" ]'
+check "ros-core metapackage is installed" bash -lc 'test "$(dpkg-query -W -f="\${db:Status-Status}" "ros-${ROS_DISTRO}-ros-core")" = installed'
+check "ROS 2 tooling is installed" bash -lc 'ros2 pkg prefix rclcpp >/dev/null'
+
+reportResults
diff --git a/features/test/ros2/scenarios.json b/features/test/ros2/scenarios.json
index 4b4bdc8..bf637be 100644
--- a/features/test/ros2/scenarios.json
+++ b/features/test/ros2/scenarios.json
@@ -17,6 +17,10 @@
       }
     }
   },
+  "ros_core": {
+    "image": "mcr.microsoft.com/devcontainers/base:ubuntu-24.04",
+    "features": { "ros2": { "distro": "kilted", "package": "ros-core" } }
+  },
   "lyrical": {
     "image": "ubuntu:26.04",
     "features": { "ros2": { "package": "ros-base" } }
diff --git a/features/test/ros2/validate_config.py b/features/test/ros2/validate_config.py
index 345aa34..e8a1c1c 100644
--- a/features/test/ros2/validate_config.py
+++ b/features/test/ros2/validate_config.py
@@ -16,6 +16,15 @@
 ubuntu_releases = config["ubuntuReleases"]
 proposals = manifest["options"]["distro"]["proposals"]
 default = manifest["options"]["distro"]["default"]
+package_proposals = manifest["options"]["package"]["proposals"]
+expected_package_proposals = {
+    "ros-core",
+    "ros-base",
+    "desktop",
+    "perception",
+    "simulation",
+    "desktop-full",
+}
 
 if set(config) != {"ubuntuReleases"}:
     raise SystemExit("distributions.json must contain only ubuntuReleases")
@@ -51,4 +60,12 @@
 if default != "auto":
     raise SystemExit("The default ROS 2 distro option must be auto")
 
+if set(package_proposals) != expected_package_proposals:
+    raise SystemExit(
+        "ROS 2 package proposals must contain exactly the standard variants"
+    )
+
+if len(package_proposals) != len(expected_package_proposals):
+    raise SystemExit("ROS 2 package proposals must not contain duplicates")
+
 print(f"Validated {len(distributions)} ROS 2 distribution definitions")