From 05b0e0f2e6448fe1f235fcf6a61a92bcb46eb919 Mon Sep 17 00:00:00 2001
From: "Ana C. Huaman Quispe" <ana@traclabs.com>
Date: Wed, 6 Mar 2024 10:19:23 -0600
Subject: [PATCH 1/2] Simplify docker compose, make a big dockerfile for
 easiness

---
 brash.Dockerfile        | 173 ++++++++++++++++++++++++++++++++++++++++
 docker-compose-dev.yml  |   9 +--
 docker-compose-prod.yml |  13 +--
 ros_base.Dockerfile     |  44 ----------
 rosfsw.Dockerfile       |  65 ---------------
 rosgsw.Dockerfile       |  46 -----------
 scripts/build_images.sh |  37 +--------
 7 files changed, 181 insertions(+), 206 deletions(-)
 create mode 100644 brash.Dockerfile
 delete mode 100644 ros_base.Dockerfile
 delete mode 100644 rosfsw.Dockerfile
 delete mode 100644 rosgsw.Dockerfile

diff --git a/brash.Dockerfile b/brash.Dockerfile
new file mode 100644
index 0000000..a19367b
--- /dev/null
+++ b/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 ${CODE_DIR}/brash
+
diff --git a/docker-compose-dev.yml b/docker-compose-dev.yml
index 13bf1fd..dd524ed 100644
--- a/docker-compose-dev.yml
+++ b/docker-compose-dev.yml
@@ -19,7 +19,7 @@ services:
     build:
       # NOTE: Actual build process must be executed discretely for dev mounts
       context: .
-      dockerfile: rosgsw.Dockerfile
+      dockerfile: brash.Dockerfile
       target: rosgsw-dev
     volumes:
       - "./brash:/code/brash"
@@ -31,7 +31,7 @@ services:
     image: "rosfsw-dev"
     build:
       context: .
-      dockerfile: rosfsw.Dockerfile
+      dockerfile: brash.Dockerfile
       target: rosfsw-dev
     volumes:
       - "./brash:/code/brash"
@@ -40,10 +40,7 @@ services:
     extends:
       file: docker-compose-prod.yml
       service: novnc
-  ros_base:
-    extends:
-      file: docker-compose-prod.yml
-      service: ros_base
+
 # NOTE: networks apparently can't be imported from related file?
 networks:
   spaceip:
diff --git a/docker-compose-prod.yml b/docker-compose-prod.yml
index ded01e7..7715e2b 100644
--- a/docker-compose-prod.yml
+++ b/docker-compose-prod.yml
@@ -28,7 +28,7 @@ services:
         ipv4_address: 10.5.0.2
     build:
       context: .
-      dockerfile: rosgsw.Dockerfile
+      dockerfile: brash.Dockerfile
       target: rosgsw
       args:
         - USER_UID=${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=${UID:-1000}      
-
 networks:
   spaceip:
     driver: bridge
diff --git a/ros_base.Dockerfile b/ros_base.Dockerfile
deleted file mode 100644
index ccb6812..0000000
--- a/ros_base.Dockerfile
+++ /dev/null
@@ -1,44 +0,0 @@
-FROM osrf/ros:humble-desktop AS ros-base
-ENV DEBIAN_FRONTEND=noninteractive
-
-RUN apt-get update \
-# Needed for OpenGL fix for Rviz to display
- && apt-get install -y software-properties-common \
- && add-apt-repository -y ppa:kisak/kisak-mesa \ 
- && apt update \ 
- && apt -y upgrade 
-
-RUN apt-get install -y \
-  python3-pip \ 
-  libnlopt-dev \
-  libnlopt-cxx-dev \
-  ros-humble-xacro \
-  ros-humble-joint-state-publisher \
-  ros-humble-srdfdom \
-  ros-humble-rqt*
-
-RUN pip3 install cfdp
-
-# Switch to bash shell
-SHELL ["/bin/bash", "-c"]
-
-# Create a brash user
-ENV USERNAME=brash_user
-ENV HOME_DIR=/home/${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}
-
diff --git a/rosfsw.Dockerfile b/rosfsw.Dockerfile
deleted file mode 100644
index 07edf0f..0000000
--- a/rosfsw.Dockerfile
+++ /dev/null
@@ -1,65 +0,0 @@
-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 ${CODE_DIR}/brash
-
-##################################################
-# Production
-##################################################
-FROM rosfsw-dev AS rosfsw
-
-# Copy brash
-COPY --chown=${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 ${CODE_DIR}/brash
diff --git a/rosgsw.Dockerfile b/rosgsw.Dockerfile
deleted file mode 100644
index 25e5393..0000000
--- a/rosgsw.Dockerfile
+++ /dev/null
@@ -1,46 +0,0 @@
-FROM ros-base AS rosgsw-dev
-ENV DEBIAN_FRONTEND=noninteractive
-
-RUN sudo apt-get install -y \
-  libnlopt-dev \
-  libnlopt-cxx-dev \
-  ros-humble-xacro \
-  ros-humble-joint-state-publisher \
-  ros-humble-srdfdom \
-  ros-humble-joint-state-publisher-gui \
-  ros-humble-geometric-shapes \
-  ros-humble-rqt-robot-steering \
-  ros-humble-rqt* \
-  libdwarf-dev \
-  libelf-dev \
-  libsqlite3-dev \
-  sqlitebrowser
-
-# Set up sourcing
-COPY --chown=${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 ${CODE_DIR}/brash
-
-##################################################
-# Production
-##################################################
-FROM rosgsw-dev AS rosgsw
-
-# Copy brash=
-COPY --chown=${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
diff --git a/scripts/build_images.sh b/scripts/build_images.sh
index 40e0f9b..96f1749 100755
--- a/scripts/build_images.sh
+++ b/scripts/build_images.sh
@@ -14,46 +14,15 @@ done
 echo "...Using COMPOSE_FILE: ${COMPOSE_FILE}..."
 
 echo ""
-echo "##### Building fsw #####"
+echo "##### Building fsw, rosgsw and rosfsw #####"
 echo ""
-env UID=${UID} docker compose -f ${COMPOSE_FILE} build fsw
+env UID=${UID} docker compose -f ${COMPOSE_FILE} build
 ret=$?
 if [ $ret -ne 0 ]; then
-  echo "!! Failed in building base image for fsw service !!"
+  echo "!! Failed in building base image for fsw, rosgsw and rosfsw services !!"
   return 1  
 fi
 
-echo ""
-echo "##### Building ros_base #####"
-echo ""
-env UID=${UID} docker compose -f ${COMPOSE_FILE} build ros_base
-ret=$?
-if [ $ret -ne 0 ]; then
-  echo "!! Failed in building base image for ros_base (base for rosgsw and rosfsw) !!"
-  return 1  
-fi
-
-echo ""
-echo "##### Building rosgsw #####"
-echo ""
-env UID=${UID} docker compose -f ${COMPOSE_FILE} build rosgsw
-ret=$?
-if [ $ret -ne 0 ]; then
-  echo "!! Failed in building base image for rosgsw !!"
-  return 1  
-fi
-
-echo ""
-echo "##### Building rosfsw #####"
-echo ""
-env UID=${UID} docker compose -f ${COMPOSE_FILE} build rosfsw
-ret=$?
-if [ $ret -ne 0 ]; then
-  echo "!! Failed in building base image for rosfsw !!"
-  return 1  
-fi
-
-
 echo ""
 echo "##### Done! #####"
 return 0

From bfdb482c1a0e6716d004ee308ab8721bec92a2a4 Mon Sep 17 00:00:00 2001
From: "Ana C. Huaman Quispe" <ana@traclabs.com>
Date: Wed, 6 Mar 2024 10:23:02 -0600
Subject: [PATCH 2/2] Delete unnecessary description on title

---
 scripts/build_images.sh | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/scripts/build_images.sh b/scripts/build_images.sh
index 96f1749..3350de2 100755
--- a/scripts/build_images.sh
+++ b/scripts/build_images.sh
@@ -1,7 +1,7 @@
 #!/usr/bin/env bash
 
 echo ""
-echo "##### Building base images (needs to be in order for image dependencies) #####"
+echo "##### Building base images #####"
 echo ""
 COMPOSE_FILE="docker-compose-dev.yml"