huge refactoring to enable developing locally using docker

docker/README.md

@@ -12,6 +12,8 @@ To run the docker image use:
 
 # Getting environment up and running
 
+## Copy workspace from docker machine
+
 If you want to get quicky up and runing, keeping sources on your computer
 and using docker as a as a perdictable build system you can run:
 ```bash
@@ -37,7 +39,34 @@ You can confirm you have the right origin URL by running:
 git remote show origin
 ```
 
+## Use computer workspace on docker
+
+If you have your workspace locally and want to use the docker machine to build
+and/or run nodes, you can use the scrip `docker-develop.sh`.
+This script will discard the sources from the remote repository and instead
+use the sources you have locally on your computer that will be mounted
+on the docker machine.
+
+For example, you can use the following command:
+```bash
+docker-develop.sh /home/<YOUR_USERNAME>/catkin_ws
+```
+
+If you want to run it as a daemon you can use:
+```bash
+docker-develop.sh /home/<YOUR_USERNAME>/catkin_ws dt
+```
+
+Once you are in the docker machine you can, for instance, build
+from sources doing
+```bash
+ catkin build -j$(($(nproc) / 2)) -l1 tsdf_plusplus_ros rgbd_segmentation mask_rcnn_ros cloud_segmentation
+```
+
+By doing so, the docker machine will build the sources on your computer and
+keep the binaries on your computer as well.
+
+
 TODO:
- - Allow mounted local workspaced in docker
  - Automatically build the current (remote) branch
  - Entrypoint with all nodes running

docker/base/Dockerfile

@@ -1,6 +1,9 @@
 FROM ros:melodic-ros-core
 ENV DEBIAN_FRONTEND=noninteractive
 
+ARG USER_ID
+ARG GROUP_ID
+
 # Install dependencies
 RUN apt update -y
 RUN apt upgrade -y
@@ -15,4 +18,14 @@ RUN apt install -y build-essential tree vim \
     rm -rf /var/lib/apt/lists/* && \
     apt clean && \
     apt autoclean
-RUN pip install -U osrf-pycommon wstool setuptools
+RUN pip install -U osrf-pycommon wstool setuptools
+
+
+# Create 'ros' user with sudo powers
+ARG USERNAME=ros
+RUN groupadd --gid $GROUP_ID $USERNAME
+RUN useradd -s /bin/bash --uid $USER_ID --gid $GROUP_ID -m $USERNAME
+RUN echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME
+RUN chmod 0440 /etc/sudoers.d/$USERNAME
+RUN echo "source /usr/share/bash-completion/completions/git" >> /home/$USERNAME/.bashrc
+RUN echo "if [ -f /opt/ros/${ROS_DISTRO}/setup.bash ]; then source /opt/ros/${ROS_DISTRO}/setup.bash; fi" >> /home/$USERNAME/.bashrc

docker/build-ros-image.sh

@@ -1,4 +1,4 @@
 #!/bin/bash
-docker build -t tsdf-plusplus-ros-base:v0.1 base
+docker build --build-arg USER_ID=$(id -u) --build-arg GROUP_ID=$(id -g) -t tsdf-plusplus-ros-base:v0.1 base
 docker build -t tsdf-plusplus-ros-workspace:v0.1 workspace
 docker build -t tsdf-plusplus-ros-catkin-build:v0.1 catkin-build

docker/catkin-build/Dockerfile

@@ -4,6 +4,11 @@ USER $USERNAME
 WORKDIR /home/$USERNAME
 ARG ROS_VERSION=melodic
 ARG CATKIN_WS=/home/ros/catkin_ws
+RUN bash -c 'source /opt/ros/melodic/setup.bash && \
+    cd $CATKIN_WS/src && \
+    git clone https://github.com/ethz-asl/tsdf-plusplus.git && \
+    wstool merge -t . tsdf-plusplus/tsdf_plusplus_https.rosinstall && \
+    wstool update'
 RUN bash -c 'source /opt/ros/melodic/setup.bash && \
     cd $CATKIN_WS && \
     catkin build -j$(($(nproc) / 2)) -l1 tsdf_plusplus_ros rgbd_segmentation mask_rcnn_ros cloud_segmentation'

docker/docker-develop.sh

@@ -0,0 +1,19 @@
+#!/bin/bash
+workspace_folder=$1
+if [ -z "$1" ]
+  then
+    echo "Absolute path of the workspace folder not found"
+    exit 1
+fi
+mode=$2
+if [ -z "$2" ]
+  then
+    mode="it"
+fi
+docker container run --rm -$mode \
+  --user $(id -u) \
+  --mount type=bind,source="${workspace_folder}",target=/home/ros/catkin_ws \
+  --name tsdf-plusplus-dev \
+  --workdir /home/ros/catkin_ws \
+  tsdf-plusplus-ros-base:v0.1 \
+  bash

docker/workspace/Dockerfile

@@ -1,16 +1,5 @@
 FROM tsdf-plusplus-ros-base:v0.1
 
-# Create 'ros' user with sudo powers
-ARG USERNAME=ros
-ARG USER_UID=1001
-ARG USER_GID=$USER_UID
-RUN groupadd --gid $USER_GID $USERNAME \
-  && useradd -s /bin/bash --uid $USER_UID --gid $USER_GID -m $USERNAME \
-  && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME\
-  && chmod 0440 /etc/sudoers.d/$USERNAME \
-  && echo "source /usr/share/bash-completion/completions/git" >> /home/$USERNAME/.bashrc \
-  && echo "if [ -f /opt/ros/${ROS_DISTRO}/setup.bash ]; then source /opt/ros/${ROS_DISTRO}/setup.bash; fi" >> /home/$USERNAME/.bashrc
-
 # Create workspace
 USER $USERNAME
 WORKDIR /home/$USERNAME
@@ -22,8 +11,4 @@ RUN bash -c 'source /opt/ros/melodic/setup.bash && \
     catkin init && \
     catkin config --extend /opt/ros/melodic --merge-devel && \
     catkin config --cmake-args -DCMAKE_CXX_STANDARD=14 -DCMAKE_BUILD_TYPE=Release && \
-    wstool init src && \
-    cd $CATKIN_WS/src && \
-    git clone https://github.com/ethz-asl/tsdf-plusplus.git && \
-    wstool merge -t . tsdf-plusplus/tsdf_plusplus_https.rosinstall && \
-    wstool update'
+    wstool init src'