Merge pull request - Container Integration

Makefile and Dockerfiles for CPU/CUDA/Jetson

Makefile

@@ -0,0 +1,73 @@
+# ----------------------------------------------------------------------
+#  Robocup@Home ROS Noetic Docker Development
+# ----------------------------------------------------------------------
+
+#: Builds a Docker image with the corresponding Dockerfile file
+
+# ----------------------------BUILD------------------------------------
+# ---------Main----------
+# No GPU
+main.build:
+	@./docker/scripts/build.bash --area=main
+
+# CUDA 11.8 x86_64
+main.build.cuda:
+	@./docker/scripts/build.bash --area=main --use-cuda
+
+# Jetson devices
+main.build.jetson:
+	@./docker/scripts/build.bash --area=main --jetson-l4t=35.4.1
+
+# ----------------------------CREATE------------------------------------
+
+main.create:
+	@./docker/scripts/run.bash --area=main --volumes=$(volumes) --name=$(name)
+
+main.create.cuda:
+	@./docker/scripts/run.bash --area=main --use-cuda --volumes=$(volumes) --name=$(name)
+
+# For jetpack version 35.4.1, jetson images are special in the sense that they are specific to the jetpack version
+main.create.jetson:
+	@./docker/scripts/run.bash --area=main --jetson-l4t=35.4.1 --volumes=$(volumes) --name=$(name)
+
+# ----------------------------START------------------------------------
+# Start containers
+main.up:
+	@xhost +
+	@docker start home-main
+
+# ----------------------------STOP------------------------------------
+# Stop containers
+main.down:
+	@docker stop home-main 
+
+# ----------------------------RESTART------------------------------------
+# Restart containers
+main.restart:
+	@docker restart home-main 
+
+# ----------------------------LOGS------------------------------------
+# Logs of the container
+main.logs:
+	@docker logs --tail 50 home-main
+
+# ----------------------------SHELL------------------------------------
+# Fires up a bash session inside the container
+main.shell:
+	@docker exec -it --user $(shell id -u):$(shell id -g) home-main bash
+
+# ----------------------------REMOVE------------------------------------
+# Remove container
+main.remove:
+	@docker container rm home-main
+
+# ----------------------------------------------------------------------
+#  General Docker Utilities
+
+#: Show a list of images.
+list-images:
+	@docker image ls
+
+#: Show a list of containers.
+list-containers:
+	@docker container ls -as

README.md

@@ -19,12 +19,58 @@ And to update the submodules content execute:
 git submodule update --init --recursive
 ```
 
-All the development environments use Docker, follow the instructions inside the `docker` folders.
+All the development environments use Docker, follow the instructions below or the [README](docker/README.md) inside the `docker` folder for insights.
 
 ## Software Architecture
 
 ![home-2](https://github.com/RoBorregos/home/assets/25570636/ea6f9551-27c7-4b4e-8fcb-8733a6eb7284)
 
+## Docker Development
+The project uses Docker for easier development within ROS and CUDA/Jetson compatibility. Both this main engine repository and each area's contain a `docker` folder with dockerfiles and a Makefile for easier image and container creation and modification. 
+### Requirements
+
+- [Docker Engine](https://docs.docker.com/engine/install/ubuntu/#install-using-the-repository)
+- [Post-installation steps for Linux](https://docs.docker.com/engine/install/linux-postinstall/)
+If using GPU:
+- NVIDIA Driver 
+- [NVIDIA Container Toolkit](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/index.html))
+### Container Creation
+To build an image, run:
+
+```bash
+# For CPU
+make main.build
+# For GPU
+make main.build.cuda
+# For Jetson L4T: 35.4.1
+make main.build.jetson
+```
+To create a container, run the following commands. The `ws` folder is mounted by default, and additional folders can be added with the `volumes` argument, with both absolute and relative paths allowed:
+
+```bash
+# For CPU
+make main.create volumes="another_folder1/,~/another_folder2"
+# For GPU
+make main.create.cuda volumes="another_folder1/,~/another_folder2"
+# For Jetson L4T: 35.4.1
+make main.create.jetson volumes="another_folder1/,~/another_folder2"
+```
+
+To enter the container, run:
+
+```bash
+make main.up
+make main.shell
+```
+
+You can stop and remove the container with:
+
+```bash
+make main.down
+make main.remove
+```
+
+Additional commands can be added within the Makefile and the scripts inside the `docker/scripts` folder can help for easier integration and sharing. These include a build script to run the dockerfile and create a new image and a run script to create containers from it. Any additional dependency or system/environment configuration should be added to these scripts.
 ## Team Members
 
 | Name                    | Github                                                       | Role      |

docker/Dockerfile.main

@@ -0,0 +1,23 @@
+FROM althack/ros:noetic-full AS base
+LABEL maintainer="RoBorregos <[email protected]>"
+# Install dependencies.
+RUN apt-get update -qq && apt-get install -y  build-essential \
+    ffmpeg libsm6 libxext6 autoconf libtool mesa-utils \
+    terminator nano git wget curl iputils-ping \
+    libcanberra-gtk-module libcanberra-gtk3-module \
+    ros-dev-tools 
+
+RUN apt-get update && apt-get install -y ros-noetic-rqt ros-noetic-rqt-common-plugins
+
+# New stage for each feature added
+############################################
+# Foxglove bridge
+############################################
+
+FROM base as foxglove
+# Install dependencies.
+RUN apt install -y ros-noetic-foxglove-bridge
+
+RUN echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
+
+ENTRYPOINT [ "/bin/bash", "-l", "-c" ]

docker/Dockerfile.main.cuda

@@ -0,0 +1,169 @@
+#############################################
+# Created from althack/ros:noetic
+#############################################
+
+###########################################
+# Base image 
+###########################################
+FROM nvidia/cuda:11.8.0-runtime-ubuntu20.04 AS base
+
+LABEL maintainer="RoBorregos <[email protected]>"
+
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Install language
+RUN apt-get update && apt-get install -y \
+  locales \
+  && locale-gen en_US.UTF-8 \
+  && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 \
+  && rm -rf /var/lib/apt/lists/*
+ENV LANG en_US.UTF-8
+
+# Install timezone
+RUN ln -fs /usr/share/zoneinfo/UTC /etc/localtime \
+  && export DEBIAN_FRONTEND=noninteractive \
+  && apt-get update \
+  && apt-get install -y tzdata \
+  && dpkg-reconfigure --frontend noninteractive tzdata \
+  && rm -rf /var/lib/apt/lists/*
+
+# Install ROS
+RUN apt-get update && apt-get install -y \
+    curl \
+    dirmngr \
+    gnupg2 \
+    lsb-release \
+    sudo \
+  && sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' \
+  && curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add - \
+  && apt-get update && apt-get install -y \
+    ros-noetic-ros-base \
+  && rm -rf /var/lib/apt/lists/*
+
+# Setup environment
+ENV LD_LIBRARY_PATH=/opt/ros/noetic/lib
+ENV ROS_DISTRO=noetic
+ENV ROS_ROOT=/opt/ros/noetic/share/ros
+ENV ROS_PACKAGE_PATH=/opt/ros/noetic/share
+ENV ROS_MASTER_URI=http://localhost:11311
+ENV ROS_PYTHON_VERSION=3
+ENV ROS_VERSION=1
+ENV PATH=/opt/ros/noetic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin
+ENV ROSLISP_PACKAGE_DIRECTORIES=
+ENV PYTHONPATH=/opt/ros/noetic/lib/python3/dist-packages
+ENV PKG_CONFIG_PATH=/opt/ros/noetic/lib/pkgconfig
+ENV ROS_ETC_DIR=/opt/ros/noetic/etc/ros
+ENV CMAKE_PREFIX_PATH=/opt/ros/noetic
+ENV DEBIAN_FRONTEND=
+
+# New stage for each feature added
+###########################################
+# Develop image 
+###########################################
+FROM base AS dev
+
+ENV DEBIAN_FRONTEND=noninteractive
+# Install dev tools
+RUN apt-get update && apt-get install -y \
+    python3-rosdep \
+    python3-rosinstall \
+    python3-rosinstall-generator \
+    python3-wstool \
+    python3-pip \
+    python3-pep8 \
+    python3-autopep8 \
+    pylint3 \
+    build-essential \
+    bash-completion \
+    git \
+    vim \
+  && rm -rf /var/lib/apt/lists/* \
+  && rosdep init || echo "rosdep already initialized"
+
+ARG USERNAME=ros
+ARG USER_UID=1000
+ARG USER_GID=$USER_UID
+
+# Create a non-root user
+RUN groupadd --gid $USER_GID $USERNAME \
+  && useradd -s /bin/bash --uid $USER_UID --gid $USER_GID -m $USERNAME \
+  # Add sudo support for the non-root user
+  && apt-get update \
+  && apt-get install -y sudo \
+  && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME\
+  && chmod 0440 /etc/sudoers.d/$USERNAME \
+  && rm -rf /var/lib/apt/lists/*
+
+# Set up autocompletion for user
+RUN apt-get update && apt-get install -y git-core bash-completion \
+  && echo "if [ -f /opt/ros/${ROS_DISTRO}/setup.bash ]; then source /opt/ros/${ROS_DISTRO}/setup.bash; fi" >> /home/$USERNAME/.bashrc \
+  && echo "if [ -f /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash ]; then source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash; fi" >> /home/$USERNAME/.bashrc \
+  && rm -rf /var/lib/apt/lists/* 
+ENV DEBIAN_FRONTEND=
+
+###########################################
+# Full image 
+###########################################
+FROM dev AS full
+
+ENV DEBIAN_FRONTEND=noninteractive
+# Install the full release
+RUN apt-get update && apt-get install -y \
+  ros-noetic-desktop \
+  && rm -rf /var/lib/apt/lists/*
+ENV DEBIAN_FRONTEND=
+
+###########################################
+#  Full+Gazebo image 
+###########################################
+FROM full AS gazebo
+
+ENV DEBIAN_FRONTEND=noninteractive
+# Install gazebo
+RUN apt-get update && apt-get install -y \
+  ros-noetic-gazebo* \
+  && rm -rf /var/lib/apt/lists/*
+ENV DEBIAN_FRONTEND=
+
+###########################################
+#  Full+Gazebo+Nvidia image 
+###########################################
+
+FROM gazebo AS gazebo-nvidia
+
+################
+# Expose the nvidia driver to allow opengl 
+# Dependencies for glvnd and X11.
+################
+RUN apt-get update \
+ && apt-get install -y -qq --no-install-recommends \
+  libglvnd0 \
+  libgl1 \
+  libglx0 \
+  libegl1 \
+  libxext6 \
+  libx11-6
+
+# Env vars for the nvidia-container-runtime.
+ENV NVIDIA_VISIBLE_DEVICES all
+ENV NVIDIA_DRIVER_CAPABILITIES graphics,utility,compute
+ENV QT_X11_NO_MITSHM 1
+
+# Install dependencies.
+RUN apt-get update -qq && apt-get install -y  build-essential \
+    ffmpeg libsm6 libxext6 autoconf libtool mesa-utils \
+    terminator nano git wget curl iputils-ping \
+    libcanberra-gtk-module libcanberra-gtk3-module \
+    ros-dev-tools ros-noetic-teleop-twist-keyboard
+
+# # Gazebo classic install
+# RUN apt install -y ros-noetic-gazebo-ros-pkgs \
+#     ros-noetic-gazebo-ros \
+#     ros-noetic-gazebo-plugins && \
+#     curl -sSL http://get.gazebosim.org | sh
+
+RUN echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
+
+RUN mkdir /workspace
+
+ENTRYPOINT [ "/bin/bash", "-l", "-c" ]

docker/Dockerfile.main.l4t-35.4.1

@@ -0,0 +1,42 @@
+FROM dustynv/ros:noetic-desktop-l4t-r35.4.1 as base
+LABEL maintainer="RoBorregos <[email protected]>"
+# Install dependencies.
+# Install dependencies.
+RUN apt-get update -qq && apt-get install -y  build-essential \
+    ffmpeg libsm6 libxext6 autoconf libtool mesa-utils \
+    terminator nano git wget curl iputils-ping \
+    libcanberra-gtk-module libcanberra-gtk3-module \
+    ros-dev-tools ros-noetic-teleop-twist-keyboard
+
+# New stage for each feature added
+############################################
+# USER CONFIGURATION
+############################################
+FROM base as user
+
+ARG USERNAME=ros
+ARG USER_UID=1000
+ARG USER_GID=$USER_UID
+
+# Create a non-root user
+RUN groupadd --gid $USER_GID $USERNAME \
+  && useradd -s /bin/bash --uid $USER_UID --gid $USER_GID -m $USERNAME \
+  # Add sudo support for the non-root user
+  && apt-get update \
+  && apt-get install -y sudo \
+  && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME\
+  && chmod 0440 /etc/sudoers.d/$USERNAME \
+  && rm -rf /var/lib/apt/lists/*
+
+# Set up autocompletion for user
+RUN apt-get update && apt-get install -y git-core bash-completion \
+  && echo "if [ -f /opt/ros/${ROS_DISTRO}/setup.bash ]; then source /opt/ros/${ROS_DISTRO}/setup.bash; fi" >> /home/$USERNAME/.bashrc \
+  && echo "if [ -f /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash ]; then source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash; fi" >> /home/$USERNAME/.bashrc \
+  && rm -rf /var/lib/apt/lists/* 
+ENV DEBIAN_FRONTEND=
+
+RUN echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
+
+#RUN mkdir /workspace
+
+ENTRYPOINT [ "/bin/bash", "-l", "-c" ]

docker/README.md

@@ -9,7 +9,7 @@
 
 ## Build images
 
-Inside the `docker` folder in each module, there are different docker images. The convention for the naming of the **images** chosen is `home/feature:version`. Also, the `Dockerfile` should be named according to the feature and version.
+Inside the `docker` folder in each module, there are different docker images. The convention for the naming of the **images** chosen is `home:area-version`, where version contains the platform used: `cpu`, `cuda` or `l4t-version`. Also, the `Dockerfile` should be named according to the feature and version.
 
 Current images available:
 - Noetic base full