Deployment refactored

.devcontainer/Dockerfile

@@ -1,55 +1,100 @@
-ARG BASE_IMAGE=ros:humble
+ARG BASE_IMAGE=lcas.lincoln.ac.uk/lcas/ros:jammy-humble-cuda12.2-opengl
 
 FROM ${BASE_IMAGE} as base
 
+# making the standard global variables available for target-specific builds
+ARG TARGETARCH
+
 USER root
 
 ENV DEBIAN_FRONTEND=noninteractive
 
-RUN apt-get update \
-    && apt-get install -qq -y --no-install-recommends \
-    git \
-    python3-pip \
-    python3-rosdep \
-    python3-matplotlib \
-    python3-pandas \
-    ros-humble-rviz2 \
-    ros-humble-gazebo-plugins \
-    ros-humble-nav2-* \
-    ros-humble-tf-transformations \
-    ros-humble-rqt* \
-    ros-humble-find-object-2d \
-    zenoh-bridge-ros2dds
+
+RUN echo "building for ${TARGETARCH}"
+RUN if [ "${TARGETARCH}" = "arm64" ]; then \
+    add-apt-repository -s -y ppa:openrobotics/gazebo11-non-amd64; \
+    fi
+
+RUN apt-get update && \
+    apt-get upgrade -y && \
+    apt-get install -qq -y --no-install-recommends \
+        git \
+        python3-pip \
+        python3-rosdep \
+        python3-matplotlib \
+        python3-pandas && \
+    apt-get clean && \
+    rm -rf /var/lib/apt/lists/*
 
 # get the source tree and analyse it for its package.xml only
 FROM base as sourcefilter
-COPY ./src /tmp/src
+COPY ./src /tmp/src/_workspace/src
+COPY ./.devcontainer/*repos /tmp/.devcontainer/
+RUN cd /tmp/src && vcs import < /tmp/.devcontainer/lcas.repos
+RUN if [ "${TARGETARCH}" = "arm64" ]; then \
+        cd /tmp/src; \
+        vcs import < /tmp/.devcontainer/gazebo_ros_pkgs.repos; \
+    fi
+RUN cd /tmp/src && vcs pull
+
 # remove everything that isn't package.xml
 RUN find /tmp/src -type f \! -name "package.xml" -print | xargs rm -rf
 
 # install all dependencies listed in the package.xml
-FROM base as depbuilder
+FROM base as depinstaller
 # copy the reduced source tree (only package.xml) from previous stage
 COPY --from=sourcefilter /tmp/src /tmp/src
-RUN rosdep update && apt-get update
-RUN cd /tmp/src && rosdep install --from-paths . --ignore-src -r -y && cd && rm -rf /tmp/src
+RUN rosdep update --rosdistro=${ROS_DISTRO} && apt-get update
+RUN rosdep install --from-paths /tmp/src --ignore-src -r -y && rm -rf /tmp/src && apt-get clean && rm -rf /var/lib/apt/lists/* /tmp/src
+
+FROM depinstaller as depbuilder
+COPY .devcontainer/*repos .devcontainer/*.sh /tmp/.devcontainer/
+
+# get the source tree and build it (include gazebo only for arm64 platform as it is not available for arm64)
+# see https://github.com/gazebosim/gazebo-classic/issues/3236
+RUN mkdir -p /opt/ros/lcas/src && \
+    cd /opt/ros/lcas/src && \
+    vcs import < /tmp/.devcontainer/lcas.repos
+RUN  if [ "${TARGETARCH}" = "arm64" ]; then cd /opt/ros/lcas/src; vcs import < /tmp/.devcontainer/gazebo_ros_pkgs.repos; fi
+
+RUN . /opt/ros/humble/setup.sh && \
+    apt update && \
+    rosdep --rosdistro=${ROS_DISTRO} update && \
+    cd /opt/ros/lcas/src && \
+    vcs pull && \
+    rosdep install --from-paths . -i -y && \
+    apt-get clean && \
+    rm -rf /var/lib/apt/lists/*
+
+# build the workspace but only until limo_gazebosim to avoid building the hardware specific packages
+RUN cd /opt/ros/lcas; colcon build --packages-up-to limo_navigation limo_gazebosim; \
+    rm -rf /opt/ros/lcas/src/ /opt/ros/lcas/build/ /opt/ros/lcas/log/
 
-FROM depbuilder as final
+FROM depbuilder as devcontainer
 # add user ros with sudo rights if it doesn't exist
 RUN if ! id ros; then \
         useradd -ms /bin/bash ros && echo "ros:ros" | chpasswd && adduser ros sudo; \
         echo "ALL ALL=(ALL) NOPASSWD: ALL" >> /etc/sudoers; \
         echo "source /opt/ros/humble/setup.bash" >> /etc/bash.bashrc; \
     else echo "user ros already exists"; \
     fi
+RUN echo "source /opt/ros/lcas/install/setup.bash" >> ~ros/.bashrc
 
-# add sudo without password
-ENV DEBIAN_FRONTEND=noninteractive
+FROM devcontainer as compiled
 
-# add commit history to bust cache if and when needed.
-ADD "https://api.github.com/repos/LCAS/limo_ros2/commits?per_page=1&sha=humble" .lcas_addons.limo_ros2.commits
+COPY ./src /opt/ros/lcas/src/teaching-code/src
+RUN . /opt/ros/lcas/install/setup.sh && \
+    apt update && \
+    rosdep --rosdistro=${ROS_DISTRO} update && \
+    rosdep install --from-paths /opt/ros/lcas/src/teaching-code/src --ignore-src -y && \
+    apt-get clean && \
+    rm -rf /var/lib/apt/lists/*
 
-COPY .devcontainer/*repos .devcontainer/*.sh /tmp/.devcontainer/
-RUN bash /tmp/.devcontainer/install.sh
+RUN cd /opt/ros/lcas && colcon build --packages-up-to  rob2002_tutorial && \
+    rm -rf /opt/ros/lcas/src/ /opt/ros/lcas/build/ /opt/ros/lcas/log/
+
+RUN echo "source /opt/ros/lcas/install/setup.bash" >> ~/.bashrc
+RUN find /opt/ros/lcas/ 
 
 USER ros
+ENV SHELL=/bin/bash

.devcontainer/cuda-opengl/devcontainer.json → .devcontainer/devcontainer.json

@@ -6,13 +6,19 @@
 	// disable the "build" section below in this case
 	// "image": "lcas.lincoln.ac.uk/devcontainer/lcas/rob2002:cuda-opengl-main",
 	"build": {
-		"dockerfile": "../Dockerfile",
+		"dockerfile": "./Dockerfile",
 		"args": {
-			"BASE_IMAGE": "lcas.lincoln.ac.uk/lcas/ros:jammy-humble-cuda12.2-opengl"
+			// set the base image, add `-arm64` as a suffix if you have an ARM (e.g. Apple Mx) CPU:
+			"BASE_IMAGE": "lcas.lincoln.ac.uk/lcas/ros:jammy-humble-cuda12.2-opengl-1"
+			//"BASE_IMAGE": "lcas.lincoln.ac.uk/lcas/ros:jammy-humble-cuda12.2-opengl-arm64-1"
 		},
-		"context": "../.."
+		// change this to linux/arm64 if you have an ARM (e.g. Apple Mx) CPU:
+		"platform": "linux/amd64",
+		//"platform": "linux/arm64",
+		"context": ".."
 	},
 
+	// forward the virtual desktop port
 	"forwardPorts": [5801],
 	"portsAttributes": {
 		"5801": {

.devcontainer/gazebo_ros_pkgs.repos

@@ -0,0 +1,6 @@
+repositories:
+  gazebo_ros_pkgs:
+    type: git
+    url: https://github.com/ros-simulation/gazebo_ros_pkgs.git
+    version: 3.7.0
+

.devcontainer/lcas.repos

@@ -2,5 +2,5 @@ repositories:
   limo_ros2:
     type: git
     url: https://github.com/LCAS/limo_ros2.git
-    version: humble
+    version: v0.0.1
 

.github/workflows/container-build.yml

@@ -0,0 +1,147 @@
+
+name: Build Docker image
+
+on:
+  workflow_dispatch:
+  push:
+    branches: [ deployment ]
+    tags:
+      - 'v*'
+  pull_request:
+    branches: [ deployment ]
+
+jobs:
+  build-amd64-docker-image:
+    if: github.repository_owner == 'LCAS'
+    runs-on: lcas
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - base_image: lcas.lincoln.ac.uk/lcas/ros:jammy-humble-cuda12.2-opengl-1
+            ros_distro: humble
+            push_image: lcas.lincoln.ac.uk/devcontainer/rob2002
+
+    steps:
+    - name: Node Js
+      uses: actions/setup-node@v4
+      with:
+        node-version: "^16.13.0 || >=18.0.0"
+
+    - uses: actions/checkout@v3
+      with:
+        fetch-depth: 1
+
+    - name: What
+      run: echo "BRANCH=${GITHUB_REF##*/}" >> $GITHUB_ENV
+
+    - name: Docker Login LCAS
+      if: ${{ github.event_name != 'pull_request' }}
+      uses: docker/login-action@v3
+      with:
+        registry: lcas.lincoln.ac.uk
+        username: ${{ secrets.LCAS_REGISTRY_PUSHER }}
+        password: ${{ secrets.LCAS_REGISTRY_TOKEN }}
+
+    - name: Docker meta
+      id: meta_public
+      uses: docker/metadata-action@v5
+      with:
+        # list of Docker images to use as base name for tags
+        images: |
+          ${{ matrix.push_image }}
+          ${{ matrix.push_image }}-amd64
+        # generate Docker tags based on the following events/attributes
+        tags: |
+          type=raw,value=staging
+          type=raw,enable=${{ github.event_name != 'pull_request' }},value=latest
+          type=ref,enable=${{ github.event_name != 'pull_request' }},event=branch
+          type=semver,pattern={{version}}
+          type=semver,pattern={{major}}.{{minor}}
+          type=semver,pattern={{major}}        
+
+    - name: Build Public Docker Image
+      uses: docker/build-push-action@v6
+      with:
+        context: .
+        file: .devcontainer/Dockerfile
+        platforms: linux/amd64
+        pull: true
+        push: true
+        tags: ${{ steps.meta_public.outputs.tags }}
+        labels: ${{ steps.meta_public.outputs.labels }}
+        target: compiled
+        build-args: |
+            BASE_IMAGE=${{ matrix.base_image }}
+            BRANCH=${{ env.BRANCH }}
+            ROS_DISTRO=${{ matrix.ros_distro }}
+
+
+  build-arm64-docker-image:
+    if: github.repository_owner == 'LCAS'
+    runs-on: 
+      - lcas-runc
+      - runc
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - base_image: lcas.lincoln.ac.uk/lcas/ros:jammy-humble-cuda12.2-opengl-arm64-1
+            ros_distro: humble
+            push_image: lcas.lincoln.ac.uk/devcontainer/rob2002-arm64
+
+    steps:
+    - name: Node Js
+      uses: actions/setup-node@v4
+      with:
+        node-version: "^16.13.0 || >=18.0.0"
+
+    - uses: actions/checkout@v3
+      with:
+        fetch-depth: 1
+
+    - name: What
+      run: echo "BRANCH=${GITHUB_REF##*/}" >> $GITHUB_ENV
+
+    - name: Docker Login LCAS
+      if: ${{ github.event_name != 'pull_request' }}
+      uses: docker/login-action@v3
+      with:
+        registry: lcas.lincoln.ac.uk
+        username: ${{ secrets.LCAS_REGISTRY_PUSHER }}
+        password: ${{ secrets.LCAS_REGISTRY_TOKEN }}
+
+    - name: Docker meta
+      id: meta_public
+      uses: docker/metadata-action@v5
+      with:
+        flavor: |
+          latest=false
+        # list of Docker images to use as base name for tags
+        images: |
+          ${{ matrix.push_image }}
+        # generate Docker tags based on the following events/attributes
+        tags: |
+          type=raw,value=staging
+          type=raw,enable=${{ github.event_name != 'pull_request' }},value=latest
+          type=ref,enable=${{ github.event_name != 'pull_request' }},event=branch
+          type=semver,pattern={{version}}
+          type=semver,pattern={{major}}.{{minor}}
+          type=semver,pattern={{major}}        
+
+    - name: Build Public Docker Image
+      uses: docker/build-push-action@v6
+      with:
+        context: .
+        file: .devcontainer/Dockerfile
+        platforms: linux/arm64
+        pull: true
+        push: true
+        tags: ${{ steps.meta_public.outputs.tags }}
+        labels: ${{ steps.meta_public.outputs.labels }}
+        target: compiled
+        build-args: |
+            BASE_IMAGE=${{ matrix.base_image }}
+            BRANCH=${{ env.BRANCH }}
+            ROS_DISTRO=${{ matrix.ros_distro }}
+

.github/workflows/dev-container.yml

@@ -12,19 +12,9 @@ on:
 
 jobs:
   build_devcontainer:
-    # only run for LCAS repositories
-    if: github.repository_owner == 'LCAS' || github.repository_owner == 'lcas'
-    runs-on: lcas
-    strategy:
-      matrix:
-        config: 
-          - cuda-opengl
-    steps:
-      - name: Node Js
-        uses: actions/setup-node@v4
-        with:
-          node-version: "^16.13.0 || >=18.0.0"
+    runs-on: ubuntu-latest
 
+    steps:
       - name: Checkout from github
         uses: actions/checkout@v3
       - name: extract the github reference
@@ -48,20 +38,10 @@ jobs:
           password: ${{ secrets.LCAS_REGISTRY_TOKEN }}
 
       - name: Build dev container task
-        if: ${{ github.event_name == 'pull_request' }} 
         uses: devcontainers/ci@v0.3
         with:
           imageName: lcas.lincoln.ac.uk/devcontainer/${{ steps.docker_image_name.outputs.docker_image }}
-          configFile: ./.devcontainer/${{ matrix.config }}/devcontainer.json
+          configFile: ./.devcontainer/devcontainer.json
           push: never
-          imageTag: ${{ matrix.config }}-${{ env.BRANCH }}
-          #runCmd: "bash .devcontainer/run-ci.sh"
-      - name: Build and push dev container image
-        if: ${{ github.event_name != 'pull_request' }} 
-        uses: devcontainers/ci@v0.3
-        with:
-          imageName: lcas.lincoln.ac.uk/devcontainer/${{ steps.docker_image_name.outputs.docker_image }}
-          configFile: ./.devcontainer/${{ matrix.config }}/devcontainer.json
-          push: always
-          imageTag: ${{ matrix.config }}-${{ env.BRANCH }}
+          imageTag: ci
           #runCmd: "bash .devcontainer/run-ci.sh"