Merge pull request #2 from SimonSchwaiger/ros2_humble

Merge main to show ROS 2 Humble. ROS Noetic is still available in its own branch
SimonSchwaiger · Jun 17, 2023 · 5c46116 · 5c46116
2 parents 1ab6ea2 + 47a9fde
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diff --git a/.github/workflows/Dockerfile.ros1_noetic b/.github/workflows/Dockerfile.ros1_noetic
@@ -0,0 +1,131 @@
+# Remove other container sources to deal with space constraints in github actions
+# Default platform = opensource gpu acceleration
+ARG GRAPHICS_PLATFORM=standard
+# Default python version is 3.8
+ARG PYTHONVER=3.8
+
+## Generic container with MESA
+FROM ubuntu:focal as build_standard
+
+#############################################################
+##########          REAL BUILD STARTS HERE         ##########
+
+## Build container from specified source
+FROM build_${GRAPHICS_PLATFORM}
+
+ENV DEBIAN_FRONTEND="noninteractive"
+
+## Recreate ROS noetic base image
+ENV LANG C.UTF-8
+ENV LC_ALL C.UTF-8
+ENV ROS_DISTRO noetic
+
+# Setup timezone
+RUN echo 'Etc/UTC' > /etc/timezone && \
+    if ! [ -f /etc/localtime ]; then ln -s /usr/share/zoneinfo/Etc/UTC /etc/localtime; fi && \
+    apt-get update && \
+    apt-get install -q -y --no-install-recommends tzdata
+
+# Install prerequisites
+RUN apt-get update && apt-get install -q -y --no-install-recommends \
+    dirmngr \
+    gnupg2 \
+    software-properties-common \
+    build-essential
+
+# Setup sources.list and keys for ROS
+RUN echo "deb http://packages.ros.org/ros/ubuntu focal main" > /etc/apt/sources.list.d/ros1-latest.list
+RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
+
+# Install mesa
+RUN apt-get update && apt-get install -q -y --no-install-recommends \
+    libgl1-mesa-glx libgl1-mesa-dri
+
+# Install ROS
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    ros-noetic-desktop-full \
+    ros-noetic-rviz ros-noetic-rqt* ros-noetic-rosbridge-server\
+    ros-noetic-gmapping ros-noetic-dwa-local-planner ros-noetic-joint-state-publisher-gui
+
+# install python3, pip and venv
+# you can change your preferred python version here and it will be installed from the deadsnakes ppa
+# some tensorflow implementations (such as gym baselines 2) will require python 3.7
+# Forward PYTHONVER argument to the current container
+ARG PYTHONVER
+ARG GRAPHICS_PLATFORM
+
+RUN apt-get update && apt-get install -y software-properties-common \
+    && add-apt-repository -y ppa:deadsnakes/ppa \
+    && apt-get update && apt-get install -y python$PYTHONVER python$PYTHONVER-dev python$PYTHONVER-tk
+
+RUN apt-get update && apt-get install -y cmake libopenmpi-dev zlib1g-dev imagemagick
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    python3 \
+    python3-pip \
+    python3-venv \
+    python3-tk \
+    && pip3 install virtualenv
+
+# Create virtualenv using the correct python interpreter
+# Intel is an edgecase here, since they offer a custom interpreter in the intel distribution for python
+RUN if [ "$GRAPHICS_PLATFORM" = "intel" ]; then \
+    virtualenv -p /opt/intel/oneapi/intelpython/latest/bin/python ~/myenv; else \
+    virtualenv -p /usr/bin/python$PYTHONVER ~/myenv; fi
+
+# upgrade to latest pip
+RUN /bin/bash -c "source ~/myenv/bin/activate \
+    && pip3 install --upgrade pip"
+
+# install ros python prerequisites
+# twisted, openssl, autobahn, pymongo and Pillow are there to enable rosbridge server
+RUN /bin/bash -c "source ~/myenv/bin/activate \
+    && pip3 install launchpadlib \
+    wheel \
+    && pip3 install rosdep \
+    rosinstall_generator \
+    wstool \
+    rosinstall \
+    empy \
+    catkin_tools \
+    defusedxml \
+    numpy \
+    twisted pyOpenSSL autobahn pymongo Pillow service-identity \
+    && pip3 install --upgrade setuptools"
+
+# Install required python packages
+ADD ./requirements.txt .
+
+RUN /bin/bash -c "source ~/myenv/bin/activate \
+    && pip3 install -r requirements.txt"
+
+# Copy ROS packages for compilation in container
+COPY ./src /catkin_ws/src
+
+# Install ros dependencies
+RUN apt-get update && apt-get install -y --no-install-recommends python3-rosdep python3-empy && rosdep init
+RUN apt-get update && rosdep update && rosdep install --from-paths /catkin_ws/src -i -y --rosdistro noetic
+
+# Compile workspace
+RUN /bin/bash -c "source /opt/ros/noetic/setup.bash \
+    && cd catkin_ws \
+    && catkin_make -DPYTHON_EXECUTABLE=~/myenv/bin/python"
+
+# Remove src folder used for compilation, since the real src folder will be mounted at runtime
+RUN rm -rf /catkin_ws/src
+
+# Cleanup
+RUN rm -rf /var/lib/apt/lists/*
+
+# Add ROS sourcing to bashrc for interactive debugging
+RUN echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
+RUN echo "source /catkin_ws/devel/setup.bash" >> ~/.bashrc
+RUN echo "source ~/myenv/bin/activate" >> ~/.bashrc
+
+# Set shell env variable for jupyterlab (this fixes autocompletion in web-based shell)
+ENV SHELL=/bin/bash
+
+# Add entrypoint
+ADD entrypoint.sh /entrypoint.sh
+RUN chmod +x /entrypoint.sh
+ENTRYPOINT [ "/entrypoint.sh" ]
diff --git a/.github/workflows/Dockerfile.ros2_humble b/.github/workflows/Dockerfile.ros2_humble
@@ -0,0 +1,206 @@
+# Remove other container sources to deal with space constraints in github actions
+# Default platform = opensource gpu acceleration
+ARG GRAPHICS_PLATFORM=standard
+# Default python version is 3.8
+ARG PYTHONVER=3.10
+
+## Generic container with MESA
+FROM ubuntu:jammy as build_standard
+
+#############################################################
+##########          REAL BUILD STARTS HERE         ##########
+
+## Build container from specified source
+FROM build_${GRAPHICS_PLATFORM}
+LABEL org.opencontainers.image.source="https://github.com/SimonSchwaiger/ros-ml-container"
+
+ENV DEBIAN_FRONTEND="noninteractive"
+
+# Install mesa for GUI
+RUN apt-get update && apt-get install -q -y --no-install-recommends \
+    libgl1-mesa-glx libgl1-mesa-dri
+
+## Recreate ROS humble devel image
+# ------------------------
+# https://github.com/osrf/docker_images/blob/master/ros2/source/devel/Dockerfile
+# setup timezone
+RUN echo 'Etc/UTC' > /etc/timezone && \
+    ln -s /usr/share/zoneinfo/Etc/UTC /etc/localtime && \
+    apt-get update && \
+    apt-get install -q -y --no-install-recommends tzdata && \
+    rm -rf /var/lib/apt/lists/*
+
+# install packages
+RUN apt-get update && apt-get install -q -y --no-install-recommends \
+    bash-completion \
+    dirmngr \
+    gnupg2 \
+    lsb-release \
+    python3-flake8 \
+    python3-flake8-blind-except \
+    python3-flake8-builtins \
+    python3-flake8-class-newline \
+    python3-flake8-comprehensions \
+    python3-flake8-deprecated \
+    python3-flake8-docstrings \
+    python3-flake8-import-order \
+    python3-flake8-quotes \
+    python3-pip \
+    python3-pytest-repeat \
+    python3-pytest-rerunfailures \
+    && rm -rf /var/lib/apt/lists/*
+
+# setup sources.list
+RUN echo "deb http://packages.ros.org/ros2/ubuntu jammy main" > /etc/apt/sources.list.d/ros2-latest.list
+
+# setup keys
+RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
+
+# setup environment
+ENV LANG C.UTF-8
+ENV LC_ALL C.UTF-8
+
+# install bootstrap tools
+RUN apt-get update && apt-get install --no-install-recommends -y \
+    build-essential \
+    git \
+    python3-colcon-common-extensions \
+    python3-colcon-mixin \
+    python3-rosdep \
+    python3-setuptools \
+    python3-vcstool \
+    && rm -rf /var/lib/apt/lists/*
+
+# install python packages
+RUN pip3 install -U \
+    argcomplete pytest
+# add pytest here manually as a workaround for intel-based builds
+
+# This is a workaround for pytest not found causing builds to fail
+# Following RUN statements tests for regression of https://github.com/ros2/ros2/issues/722
+RUN pip3 freeze | grep pytest \
+    && python3 -m pytest --version
+
+# bootstrap rosdep
+RUN rosdep init \
+    && rosdep update
+
+# setup colcon mixin and metadata
+RUN colcon mixin add default \
+      https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml && \
+    colcon mixin update && \
+    colcon metadata add default \
+      https://raw.githubusercontent.com/colcon/colcon-metadata-repository/master/index.yaml && \
+    colcon metadata update
+
+# clone source
+ENV ROS2_WS /opt/ros2_ws
+RUN mkdir -p $ROS2_WS/src
+WORKDIR $ROS2_WS
+
+# build source
+RUN colcon \
+    build \
+    --cmake-args \
+      -DSECURITY=ON --no-warn-unused-cli \
+    --symlink-install
+
+# setup bashrc
+RUN cp /etc/skel/.bashrc ~/
+
+WORKDIR /
+## Official ROS image recreated
+# ------------------------
+
+# Set ROS and ignition versions and install them
+ENV ROS_DISTRO humble
+ENV IGNITION_VERSION fortress
+
+# Fully install ros2 instead of bootstrapping it and install rqt for debugging and rosbridge for web-based visualisation
+RUN apt-get update && apt-get install -y ros-$ROS_DISTRO-ros-base ros-dev-tools ros-humble-rqt* ros-humble-rosbridge-server
+
+# Install ignition gazebo
+#RUN apt-get install -y ros-$ROS_DISTRO-ros-ign ignition-$IGNITION_VERSION
+
+# install python3, pip and venv
+# you can change your preferred python version here and it will be installed from the deadsnakes ppa
+# some tensorflow implementations (such as gym baselines 2) will require python 3.7
+# Forward PYTHONVER argument to the current container
+ARG PYTHONVER
+ARG GRAPHICS_PLATFORM
+
+RUN apt-get update && apt-get install -y software-properties-common \
+    && add-apt-repository -y ppa:deadsnakes/ppa \
+    && apt-get update && apt-get install -y python$PYTHONVER python$PYTHONVER-dev python$PYTHONVER-tk
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    python3-pip \
+    python3-venv \
+    cmake \
+    libopenmpi-dev \
+    zlib1g-dev \
+    imagemagick
+
+RUN pip3 install virtualenv
+
+# Create virtualenv using the correct python interpreter
+# Intel is an edgecase here, since they offer a custom interpreter in the intel distribution for python
+RUN if [ "$GRAPHICS_PLATFORM" = "intel" ]; then \
+    virtualenv -p /opt/intel/oneapi/intelpython/latest/bin/python ~/myenv; else \
+    virtualenv -p /usr/bin/python$PYTHONVER ~/myenv; fi
+
+# Upgrade to latest pip
+RUN /bin/bash -c "source ~/myenv/bin/activate \
+    && pip3 install --upgrade pip"
+
+# Install ros python prerequisites
+# Pytest is explicitly installed to handle the intel edgecase
+# Netifaces, pymongo and Pillow are installed for rosbridge
+RUN /bin/bash -c "source ~/myenv/bin/activate \
+    && pip3 install launchpadlib \
+    rosinstall_generator \
+    rosinstall \
+    empy \
+    catkin_tools \
+    lark \
+    lxml \
+    pytest \
+    numpy \
+    netifaces pymongo Pillow \
+    && pip3 install --upgrade setuptools"
+
+# Install required python packages
+ADD ./requirements.txt .
+
+RUN /bin/bash -c "source ~/myenv/bin/activate \
+    && pip3 install -r requirements.txt"
+
+# Copy ROS packages for compilation in container
+COPY ./src /opt/$ROS2_WS/src
+
+# Install ros dependencies
+RUN apt-get update && rosdep update && rosdep install --from-paths /opt/$ROS2_WS/src -i -y --rosdistro $ROS_DISTRO
+
+# Compile workspace
+RUN /bin/bash -c "source /opt/ros/$ROS_DISTRO/setup.bash \
+    && cd /opt/$ROS2_WS \
+    && colcon build --symlink-install"
+
+# Remove src folder used for compilation, since the real src folder will be mounted at runtime
+RUN rm -rf /opt/$ROS2_WS/src
+
+# Cleanup
+RUN rm -rf /var/lib/apt/lists/*
+
+# Add ROS and venv sourcing to bashrc for interactive debugging
+RUN echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> ~/.bashrc
+RUN echo ". /opt/ros2_ws/install/local_setup.bash" >> ~/.bashrc
+RUN echo "source ~/myenv/bin/activate" >> ~/.bashrc
+
+# Set shell env variable for jupyterlab (this fixes autocompletion in web-based shell)
+ENV SHELL=/bin/bash
+
+# Add entrypoint
+ADD entrypoint.sh /entrypoint.sh
+RUN chmod +x /entrypoint.sh
+ENTRYPOINT [ "/entrypoint.sh" ]
diff --git a/.github/workflows/ci_ros1_noetic.yaml b/.github/workflows/ci_ros1_noetic.yaml
@@ -0,0 +1,31 @@
+name: Deploy Opensource Image to GHCR
+
+on:
+  push:
+    branches: [ "ros1_noetic" ]
+  pull_request:
+    branches: [ "ros1_noetic" ]
+
+jobs:
+
+  build:
+
+    runs-on: ubuntu-latest
+
+    steps:
+    - name: "Checkout GitHub Action"
+      uses: actions/checkout@v3
+
+    - name: "Login to GitHub Container Registry"
+      uses: docker/login-action@v1
+      with:
+        registry: ghcr.io
+        username: ${{github.actor}}
+        password: ${{secrets.GITHUB_TOKEN}}
+
+    - name: "Build the Docker image"
+      run: |
+        mkdir src
+        echo "jupyterlab" > requirements.txt
+        docker build . --file .github/workflows/Dockerfile.ros1_noetic --tag ghcr.io/simonschwaiger/ros-ml-container:ros1_noetic
+        docker push ghcr.io/simonschwaiger/ros-ml-container:ros1_noetic