feat: create ros2-ws image that has ros2-control installed (#107)

.github/workflows/reusable-build-push.yml

@@ -67,17 +67,21 @@ jobs:
 
       - id: tags
         run: |
-          BUILD_FLAGS=()    
+          BUILD_FLAGS=()
+
           BASE_TAG=${{ inputs.ros_distro }}
           BUILD_FLAGS+=(--build-arg BASE_TAG=${BASE_TAG})
-          echo "::debug::Using base image tag ${BASE_TAG}"
-          echo "build_flags=${BUILD_FLAGS[@]}" >> $GITHUB_OUTPUT
 
           VERSION_TAG="v${{ needs.check-version.outputs.version }}"
           IMAGE_TAGS="${VERSION_TAG},${VERSION_TAG}-${{ inputs.ros_distro}}","${{ inputs.ros_distro}}"
           GIT_TAG="${VERSION_TAG}-${{ inputs.ros_distro}}"
+          BUILD_FLAGS+=(--build-arg VERSION=${GIT_TAG})
+
+          echo "::debug::Using base image tag ${BASE_TAG}"
+          echo "Build flags: ${BUILD_FLAGS[@]}"
           echo "Image tags: ${IMAGE_TAGS}"
           echo "Git tag: ${GIT_TAG}"
+          echo "build_flags=${BUILD_FLAGS[@]}" >> $GITHUB_OUTPUT
           echo "image_tags=${IMAGE_TAGS}" >> $GITHUB_OUTPUT
           echo "git_tag=${GIT_TAG}" >> $GITHUB_OUTPUT
 

ros2_ws/Dockerfile

@@ -1,108 +1,10 @@
-ARG BASE_TAG=humble
-FROM ros:${BASE_TAG} as environment-variables
-ENV DEBIAN_FRONTEND=noninteractive
-ENV PYTHONWARNINGS=ignore:::setuptools.command.install,ignore:::setuptools.command.easy_install,ignore:::pkg_resources
-ENV PIP_NO_CACHE_DIR 1
-ENV USER ros2
-ENV HOME /home/${USER}
-ENV ROS2_WORKSPACE /home/${USER}/ros2_ws
-ENV COLCON_HOME ${HOME}/.colcon
-ENV COLCON_DEFAULTS_FILE ${COLCON_HOME}/defaults.yaml
-ENV COLCON_WORKSPACE=${ROS2_WORKSPACE}
-ENV LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/lib
-
-
-FROM environment-variables as base-dependencies
-
-# disable suggested and recommended install
-RUN apt-config dump | grep -we Recommends -e Suggests | sed s/1/0/ \
-  | sudo tee /etc/apt/apt.conf.d/999norecommend
-
-# install base dependencies
-RUN apt-get update && apt-get install --no-install-recommends -y \
-  autoconf \
-  automake \
-  curl \
-  featherpad \
-  gdb \
-  git \
-  iputils-ping \
-  libboost-all-dev \
-  libtool \
-  mesa-utils \
-  nano \
-  python3-pip \
-  ros-${ROS_DISTRO}-xacro \
-  ros-${ROS_DISTRO}-robot-state-publisher \
-  ros-${ROS_DISTRO}-rviz2 \
-  rsync \
-  software-properties-common \
-  ssh \
-  unzip \
-  wget \
-  && rm -rf /var/lib/apt/lists/*
-
-RUN echo "Set disable_coredump false" >> /etc/sudo.conf
-
-# configure sshd server settings
-RUN ( \
-    echo 'LogLevel DEBUG2'; \
-    echo 'PubkeyAuthentication yes'; \
-    echo 'Subsystem sftp /usr/lib/openssh/sftp-server'; \
-  ) > /etc/ssh/sshd_config_development \
-  && mkdir /run/sshd
-
-
-FROM base-dependencies as base-workspace
-
-# create and configure a new user
-ARG UID=1000
-ARG GID=1000
-RUN addgroup --gid ${GID} ${USER}
-RUN adduser --gecos "ROS2 User" --uid ${UID} --gid ${GID} ${USER} && yes | passwd ${USER}
-RUN usermod -a -G dialout ${USER}
-RUN echo "${USER} ALL=(ALL) NOPASSWD: ALL" > /etc/sudoers.d/99_aptget
-RUN chmod 0440 /etc/sudoers.d/99_aptget && chown root:root /etc/sudoers.d/99_aptget
-
-# configure sshd entrypoint to authorise the new user for ssh access and
-# optionally update UID and GID when invoking the container with the entrypoint script
-COPY ./config/sshd_entrypoint.sh /sshd_entrypoint.sh
-RUN chmod 744 /sshd_entrypoint.sh
-
-# crete user group with realtime permissions and add user to it
-RUN groupadd -g 3719 realtime && usermod -aG realtime ${USER}
-RUN echo "@realtime        soft    rtprio          99\n@realtime        hard    rtprio          99\n" > \
-    /etc/security/limits.d/realtime.conf
-
-# configure colcon defaults and utilities
-USER ${USER}
-WORKDIR ${HOME}
-RUN wget https://raw.githubusercontent.com/aica-technology/.github/v0.9.0/guidelines/.clang-format
-RUN mkdir -p ${COLCON_HOME}
-COPY --chown=${USER}:${USER} ./config/colcon ${COLCON_HOME}
-RUN /bin/bash ${COLCON_HOME}/setup.sh
-
-# build ROS workspace
-RUN mkdir -p ${ROS2_WORKSPACE}/src
-WORKDIR ${ROS2_WORKSPACE}
-RUN rosdep update
-RUN /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; colcon build --symlink-install"
-
-# prepend the environment sourcing to bashrc (appending will fail for non-interactive sessions)
-RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash; \
-source ${ROS2_WORKSPACE}/install/setup.bash" | cat - ${HOME}/.bashrc > tmp && mv tmp ${HOME}/.bashrc
-# enable colorized output from ros logging
-RUN echo "export RCUTILS_COLORIZED_OUTPUT=1" >> ${HOME}/.bashrc
-
-# create the credentials to be able to pull private repos using ssh
-USER root
-RUN mkdir /root/.ssh/ && ssh-keyscan github.com | tee -a /root/.ssh/known_hosts
-RUN echo "session required pam_limits.so" | tee --append /etc/pam.d/common-session > /dev/null
-
-
-FROM environment-variables as final
-COPY --from=base-workspace / /
-
-# start as ROS user
-USER ${USER}
-WORKDIR ${ROS2_WORKSPACE}
+ARG BASE_TAG=iron
+FROM ghcr.io/aica-technology/ros2-control:${BASE_TAG}
+
+ARG VERSION=v0.0.0
+ARG BASE_TAG=iron
+LABEL org.opencontainers.image.title="AICA ROS 2 image"
+LABEL org.opencontainers.image.description="AICA base ROS 2 image (includes ros2_control)"
+LABEL org.opencontainers.image.version="${VERSION}"
+LABEL org.opencontainers.image.base.name="docker.io/library/ros:${BASE_TAG}"
+LABEL tech.aica.image.metadata='{"type":"base/ws","base":{"name":"docker.io/library/ros","version":"'${BASE_TAG}'"}}'

ros2_ws/build.sh

@@ -1,7 +1,7 @@
 #!/bin/bash
 
-IMAGE_NAME=aica-technology/ros2-ws
-BASE_TAG=humble
+IMAGE_NAME=ghcr.io/aica-technology/ros2-ws
+BASE_TAG=iron
 
 SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" &>/dev/null && pwd)"
 if [[ ! -f "${SCRIPT_DIR}"/config/sshd_entrypoint.sh ]]; then
@@ -31,16 +31,5 @@ while [ "$#" -gt 0 ]; do
   esac
 done
 
-docker pull "ros:${BASE_TAG}"
-BUILD_FLAGS+=(--build-arg BASE_TAG="${BASE_TAG}")
-
-if [[ "$OSTYPE" != "darwin"* ]]; then
-  USER_ID="$(id -u "${USER}")"
-  GROUP_ID="$(id -g "${USER}")"
-  BUILD_FLAGS+=(--build-arg UID="${USER_ID}")
-  BUILD_FLAGS+=(--build-arg GID="${GROUP_ID}")
-fi
-
-BUILD_FLAGS+=(-t "${IMAGE_NAME}":"${BASE_TAG}")
-
-DOCKER_BUILDKIT=1 docker build "${BUILD_FLAGS[@]}" .
+BUILD_FLAGS+=(--build-arg=BASE_TAG=${BASE_TAG})
+docker buildx build -t "${IMAGE_NAME}":"${BASE_TAG}" "${BUILD_FLAGS[@]}" .