Merge pull request #19 from traclabs/feature/consolidate_single_docke…

…rfile

Feature/consolidate single dockerfile

brash.Dockerfile

@@ -0,0 +1,173 @@
+################################################
+# Build ros-base                               #
+# (ROS2 image with default packages)           #
+################################################
+FROM osrf/ros:humble-desktop AS ros-base
+ENV DEBIAN_FRONTEND=noninteractive
+
+RUN apt-get update \
+# Needed for OpenGL fix for Rviz to display
+ && apt-get install -y software-properties-common \
+ && add-apt-repository -y ppa:kisak/kisak-mesa \ 
+ && apt update \ 
+ && apt -y upgrade 
+
+RUN apt-get install -y \
+  python3-pip \ 
+  libnlopt-dev \
+  libnlopt-cxx-dev \
+  ros-humble-xacro \
+  ros-humble-joint-state-publisher \
+  ros-humble-srdfdom \
+  ros-humble-rqt*
+
+RUN pip3 install cfdp
+
+# Switch to bash shell
+SHELL ["/bin/bash", "-c"]
+
+# Create a brash user
+ENV USERNAME=brash_user
+ENV HOME_DIR=/home/${USERNAME}
+ENV CODE_DIR=/code
+
+# Dev container arguments
+ARG USER_UID=1000
+ARG USER_GID=${USER_UID}
+
+# Create new user and home directory
+RUN groupadd --gid ${USER_GID} ${USERNAME} \
+&& useradd --uid ${USER_UID} --gid ${USER_GID} --create-home ${USERNAME} \
+&& echo ${USERNAME} ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/${USERNAME} \
+&& chmod 0440 /etc/sudoers.d/${USERNAME} \
+&& mkdir -p ${CODE_DIR} \
+&& chown -R ${USER_UID}:${USER_GID} ${CODE_DIR}
+
+USER ${USERNAME}
+WORKDIR ${CODE_DIR}
+
+################################################
+# Build rosgsw-dev                             #
+################################################
+
+FROM ros-base AS rosgsw-dev
+ENV DEBIAN_FRONTEND=noninteractive
+
+RUN sudo apt-get install -y \
+  libnlopt-dev \
+  libnlopt-cxx-dev \
+  ros-humble-xacro \
+  ros-humble-joint-state-publisher \
+  ros-humble-srdfdom \
+  ros-humble-joint-state-publisher-gui \
+  ros-humble-geometric-shapes \
+  ros-humble-rqt-robot-steering \
+  ros-humble-rqt* \
+  libdwarf-dev \
+  libelf-dev \
+  libsqlite3-dev \
+  sqlitebrowser
+
+# Set up sourcing
+COPY --chown=${USERNAME}:${USERNAME} config/rosgsw_entrypoint.sh ${CODE_DIR}/entrypoint.sh
+RUN echo 'source ${CODE_DIR}/entrypoint.sh' >> ~/.bashrc
+
+# Get ready with brash workspace
+RUN mkdir -p ${CODE_DIR}/brash
+WORKDIR ${CODE_DIR}/brash
+
+################################################
+# Build rosfsw-dev                             #
+################################################
+
+FROM rosgsw-dev AS rosfsw-dev
+ENV DEBIAN_FRONTEND=noninteractive
+
+RUN sudo apt-get install -y \
+  ros-humble-controller-interface \
+  ros-humble-realtime-tools \
+  ros-humble-control-toolbox \
+  ros-humble-geometric-shapes \
+  ros-humble-controller-manager \
+  ros-humble-joint-trajectory-controller \
+  ros-humble-rqt* \
+  ignition-fortress \
+  ros-humble-ros-gz-sim \
+  ros-humble-ros-gz-bridge \
+  ros-humble-robot-localization \
+  ros-humble-interactive-marker-twist-server \
+  ros-humble-twist-mux \
+  ros-humble-joy-linux \
+  ros-humble-imu-tools \
+  ros-humble-ign-ros2-control \
+  ros-humble-joint-state-broadcaster \
+  ros-humble-diff-drive-controller 
+
+# Build a rover_ws into container
+WORKDIR ${CODE_DIR}
+RUN mkdir -p ${CODE_DIR}/rover_ws
+WORKDIR ${CODE_DIR}/rover_ws
+
+# Copy rover repos and robot config file required
+COPY --chown=${USERNAME}:${USERNAME} ./config/rover.repos rover.repos
+COPY --chown=${USERNAME}:${USERNAME} ./config/robot.yaml robot.yaml
+RUN mkdir src && vcs import src < rover.repos 
+
+# Build the rover workspace
+RUN source /opt/ros/humble/setup.bash &&  \
+    colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
+
+# Set up sourcing
+COPY --chown=${USERNAME}:${USERNAME} ./config/rosfsw_entrypoint.sh ${CODE_DIR}/entrypoint.sh
+RUN echo 'source ${CODE_DIR}/entrypoint.sh' >> ~/.bashrc
+
+
+# Source from rover_ws
+WORKDIR ${CODE_DIR}/brash
+
+
+
+##################################################
+# Build rosgsw (Production)
+##################################################
+FROM rosgsw-dev AS rosgsw
+
+# Copy brash=
+COPY --chown=${USERNAME}:${USERNAME} brash ${CODE_DIR}/brash
+
+# Build the brash workspace
+WORKDIR ${CODE_DIR}/brash
+RUN source /opt/ros/humble/setup.bash &&  \
+    colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
+
+# Build juicer
+#COPY --chown=${USERNAME}:${USERNAME} juicer ${CODE_DIR}/juicer
+#WORKDIR ${CODE_DIR}/juicer
+#RUN  make
+
+# Set workspace
+WORKDIR ${CODE_DIR}/brash
+
+
+
+##################################################
+# Build rosfsw (Production)
+##################################################
+FROM rosfsw-dev AS rosfsw
+
+# Copy brash
+COPY --chown=${USERNAME}:${USERNAME} brash ${CODE_DIR}/brash
+
+# Build the brash workspace
+WORKDIR ${CODE_DIR}/brash
+RUN source ${CODE_DIR}/rover_ws/install/setup.bash && \
+    colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
+
+# Build juicer
+#COPY --chown=${USERNAME}:${USERNAME} juicer ${CODE_DIR}/juicer
+#WORKDIR ${CODE_DIR}/juicer
+#RUN  make
+
+# Set workspace
+WORKDIR ${CODE_DIR}/brash
+

docker-compose-dev.yml

@@ -19,7 +19,7 @@ services:
     build:
       # NOTE: Actual build process must be executed discretely for dev mounts
       context: .
-      dockerfile: rosgsw.Dockerfile
+      dockerfile: brash.Dockerfile
       target: rosgsw-dev
     volumes:
       - "./brash:/code/brash"
@@ -31,7 +31,7 @@ services:
     image: "rosfsw-dev"
     build:
       context: .
-      dockerfile: rosfsw.Dockerfile
+      dockerfile: brash.Dockerfile
       target: rosfsw-dev
     volumes:
       - "./brash:/code/brash"
@@ -40,10 +40,7 @@ services:
     extends:
       file: docker-compose-prod.yml
       service: novnc
-  ros_base:
-    extends:
-      file: docker-compose-prod.yml
-      service: ros_base
+
 # NOTE: networks apparently can't be imported from related file?
 networks:
   spaceip:

docker-compose-prod.yml

@@ -28,7 +28,7 @@ services:
         ipv4_address: 10.5.0.2
     build:
       context: .
-      dockerfile: rosgsw.Dockerfile
+      dockerfile: brash.Dockerfile
       target: rosgsw
       args:
         - USER_UID=${UID:-1000}
@@ -45,7 +45,7 @@ services:
         ipv4_address: 10.5.0.4
     build:
       context: .
-      dockerfile: rosfsw.Dockerfile
+      dockerfile: brash.Dockerfile
       target: rosfsw
       args:
         - USER_UID=${UID:-1000}
@@ -62,15 +62,6 @@ services:
       spaceip:
         ipv4_address: 10.5.0.5
 
-  ros_base:
-    image: "ros-base"
-    build:
-      context: .
-      dockerfile: ros_base.Dockerfile
-      target: ros-base
-      args:
-        - USER_UID=${UID:-1000}      
-
 networks:
   spaceip:
     driver: bridge