Refactor Dockerfile and CI workflow: streamline Zenoh installation, r…

…emove deprecated scripts, and enhance build process for multiple architectures

.devcontainer/Dockerfile

@@ -89,7 +89,7 @@ RUN wget -c https://github.com/Neargye/magic_enum/archive/refs/tags/v0.8.0.tar.g
     sudo make install &&\
     sudo ldconfig &&\
     cd ../.. && rm -r magic_enum*
-RUN git clone https://github.com/libuvc/libuvc.git &&\
+RUN git clone -b 047920bcdfb1dac42424c90de5cc77dfc9fba04d --depth 1 https://github.com/libuvc/libuvc.git &&\
     cd libuvc &&\
     mkdir build && cd build &&\
     cmake .. && make -j4 &&\
@@ -98,26 +98,52 @@ RUN git clone https://github.com/libuvc/libuvc.git &&\
     cd ../.. && rm -r libuvc*
 
 
-RUN mkdir -p /opt/lcas/extensions 
-WORKDIR /opt/lcas/extensions 
-RUN curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh -s -- -y 
-RUN git clone https://github.com/eclipse-zenoh/zenoh-plugin-ros2dds.git
-WORKDIR /opt/lcas/extensions/zenoh-plugin-ros2dds
-RUN bash -c "source '$HOME/.cargo/env'; cargo build --release -p zenoh-bridge-ros2dds"
-RUN install target/release/zenoh-bridge-ros2dds /usr/local/bin/
-WORKDIR /
+# RUN mkdir -p /opt/lcas/extensions 
+# WORKDIR /opt/lcas/extensions 
+# RUN curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh -s -- -y 
+# RUN git clone https://github.com/eclipse-zenoh/zenoh-plugin-ros2dds.git
+# WORKDIR /opt/lcas/extensions/zenoh-plugin-ros2dds
+# RUN bash -c "source '$HOME/.cargo/env'; cargo build --release -p zenoh-bridge-ros2dds"
+# RUN install target/release/zenoh-bridge-ros2dds /usr/local/bin/
+# WORKDIR /
+
+# install Zenoh
+RUN mkdir -p /tmp/zenoh-build && \ 
+    cd /tmp/zenoh-build && \
+    (curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh -s -- -y) && \
+    git clone --depth 1 -b 1.0.4 https://github.com/eclipse-zenoh/zenoh-plugin-ros2dds.git && \
+    cd /tmp/zenoh-build/zenoh-plugin-ros2dds && \
+    /bin/bash -c "source '$HOME/.cargo/env'; cargo build --release -p zenoh-bridge-ros2dds" && \
+    install target/release/zenoh-bridge-ros2dds /usr/local/bin/
+
 
 ENV NVIDIA_VISIBLE_DEVICES all
 ENV NVIDIA_DRIVER_CAPABILITIES graphics,utility,compute
 ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
 
-COPY *repos *.sh /tmp/.devcontainer/
+COPY .devcontainer/*repos .devcontainer/*.sh /tmp/.devcontainer/
 
 ARG TARGETARCH
 ENV TARGETARCH=${TARGETARCH}
 
-RUN bash /tmp/.devcontainer/install.sh
+
+COPY . /opt/ros/lcas/src/limo
+RUN apt update && \
+    rosdep init && \
+    rosdep --rosdistro=humble update && \
+    pip install -U argcomplete
+
+RUN cd /opt/ros/lcas && \
+    rosdep install --from-paths src/ -i -y && \    
+    if [ ${TARGETARCH} = "arm64" ]; then \
+        # for arm64 we don't have gazebo, so only do bringup and its dependencies
+        colcon build --packages-up-to limo_bringup; \
+    else \
+        colcon build; \
+    fi
 
 RUN echo "source /opt/ros/humble/setup.bash" >> /etc/bash.bashrc
+RUN echo "source /opt/ros/lcas/install/setup.bash" >> /etc/bash.bashrc
+
 RUN cat /tmp/.devcontainer/setup-router.sh >> /etc/bash.bashrc
 

.github/workflows/docker-build.yml

@@ -14,33 +14,74 @@ on:
 
 jobs:
 
-  trigger:
-    runs-on: ubuntu-latest
-    # only do this if we don't have a pull request
-    if: ${{ github.event_name != 'pull_request' }} 
+  # trigger:
+  #   runs-on: ubuntu-latest
+  #   # only do this if we don't have a pull request
+  #   if: ${{ github.event_name != 'pull_request' }} 
+  #   steps:
+  #   - uses: lasith-kg/dispatch-workflow@v1
+  #     id: workflow-dispatch_develop
+  #     name: 'Trigger re-build of desktop docker image "develop"'
+  #     with:
+  #       dispatch-method: workflow_dispatch
+  #       repo: kasm-workspaces-core-images
+  #       owner: LCAS
+  #       ref: refs/heads/develop # or main
+  #       workflow: docker-latest.yml # Or Workflow ID
+  #       token: ${{ secrets.ORGA_GH_TOKEN }} # GitHub Token With Relevant Permissions
+  #   - uses: lasith-kg/dispatch-workflow@v1
+  #     id: workflow-dispatch_nvidia_develop
+  #     name: 'Trigger re-build of desktop docker image "nvidia_develop"'
+  #     with:
+  #       dispatch-method: workflow_dispatch
+  #       repo: kasm-workspaces-core-images
+  #       owner: LCAS
+  #       ref: refs/heads/nvidia_develop # or main
+  #       workflow: docker-latest.yml # Or Workflow ID
+  #       token: ${{ secrets.ORGA_GH_TOKEN }} # GitHub Token With Relevant Permissions
+
+  build_amd64:
+
+    runs-on: lcas
+
     steps:
-    - uses: lasith-kg/dispatch-workflow@v1
-      id: workflow-dispatch_develop
-      name: 'Trigger re-build of desktop docker image "develop"'
+    - uses: actions/checkout@v3
+    - name: What
+      run: echo "BRANCH=${GITHUB_REF##*/}" >> $GITHUB_ENV
+    - name: Docker Login LCAS
+      # don't attempt to login for PRs
+      if: ${{ github.event_name != 'pull_request' }} 
+      # You may pin to the exact commit or the version.
+      # uses: docker/login-action@f054a8b539a109f9f41c372932f1ae047eff08c9
+      uses: docker/login-action@v2
       with:
-        dispatch-method: workflow_dispatch
-        repo: kasm-workspaces-core-images
-        owner: LCAS
-        ref: refs/heads/develop # or main
-        workflow: docker-latest.yml # Or Workflow ID
-        token: ${{ secrets.ORGA_GH_TOKEN }} # GitHub Token With Relevant Permissions
-    - uses: lasith-kg/dispatch-workflow@v1
-      id: workflow-dispatch_nvidia_develop
-      name: 'Trigger re-build of desktop docker image "nvidia_develop"'
+        # Server address of Docker registry. If not set then will default to Docker Hub
+        registry: lcas.lincoln.ac.uk
+        # Username used to log against the Docker registry
+        username: ${{ secrets.LCAS_REGISTRY_PUSHER }}
+        # Password or personal access token used to log against the Docker registry
+        password: ${{ secrets.LCAS_REGISTRY_TOKEN }}
+    - name: Docker Login dockerhub
+      # don't attempt to login for PRs
+      if: ${{ github.event_name != 'pull_request' }} 
+      uses: docker/login-action@v2
       with:
-        dispatch-method: workflow_dispatch
-        repo: kasm-workspaces-core-images
-        owner: LCAS
-        ref: refs/heads/nvidia_develop # or main
-        workflow: docker-latest.yml # Or Workflow ID
-        token: ${{ secrets.ORGA_GH_TOKEN }} # GitHub Token With Relevant Permissions
+        # Username used to log against the Docker registry
+        username: ${{ secrets.DOCKERHUB_USER }}
+        # Password or personal access token used to log against the Docker registry
+        password: ${{ secrets.DOCKERHUB_TOKEN }}
+    - name: Build and push limo_ros2 for amd64
+      uses: docker/build-push-action@v5
+      with:
+        context: .
+        file: .devcontainer/Dockerfile
+        platforms: linux/amd64
+        push: ${{ github.event_name != 'pull_request' }}
+        tags: lcas.lincoln.ac.uk/lcas/limo_ros_amd64:${{ env.BRANCH }}
+        build-args: |
+            BRANCH=${{ env.BRANCH }}
 
-  build:
+  build_arm64:
 
     runs-on: lcas
 
@@ -77,21 +118,10 @@ jobs:
       if: ${{ github.event_name != 'pull_request' }} 
       uses: docker/build-push-action@v5
       with:
-        context: .devcontainer
+        context: .
         file: .devcontainer/Dockerfile
         platforms: linux/arm64
         push: ${{ github.event_name != 'pull_request' }}
         tags: lcas.lincoln.ac.uk/lcas/limo_ros_arm64:${{ env.BRANCH }}
         build-args: |
             BRANCH=${{ env.BRANCH }}
-    - name: Build and push limo_ros2 for amd64
-      uses: docker/build-push-action@v5
-      with:
-        context: .devcontainer
-        file: .devcontainer/Dockerfile
-        platforms: linux/amd64
-        push: ${{ github.event_name != 'pull_request' }}
-        tags: lcas.lincoln.ac.uk/lcas/limo_ros_amd64:${{ env.BRANCH }}
-        build-args: |
-            BRANCH=${{ env.BRANCH }}
-