Initial commit

.gitignore

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+get-docker.sh
+build/

.readthedocs.yaml

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+# .readthedocs.yml
+# Read the Docs configuration file
+# See https://docs.readthedocs.io/en/stable/config-file/v2.html for details
+
+# Required
+version: 2
+
+# Build documentation in the docs/ directory with Sphinx
+sphinx:
+  configuration: docs/conf.py
+
+# Optionally build your docs in additional formats such as PDF and ePub
+formats: all

LICENSE.md

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+Copyright 2020 Audrow Nash
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

README.rst

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+README
+======
+
+.. image:: https://readthedocs.org/projects/cordial-docker/badge/?version=latest
+    :target: https://cordial-docker.readthedocs.io/en/latest/?badge=latest
+    :alt: Documentation Status
+
+See the `ReadTheDocs <https://cordial-docker.readthedocs.io/en/latest/index.html>`_ page.

docker/.gitignore

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+shared/
+config/
+shared*/

docker/Dockerfile

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+From osrf/ros:kinetic-desktop-full
+
+# Set frontend to avoid debconf display errors
+ENV DEBIAN_FRONTEND noninteractive
+
+# Install essentials
+RUN \
+	apt-get update -y && apt-get upgrade -y \
+	&& apt-get install -y \
+		software-properties-common \
+		apt-utils \
+	&& apt-get update -y \
+	&& apt-get install -y \
+		curl \
+		wget \
+		tmux \
+		zsh \
+		curl \
+		wget \
+		vim \
+		sudo \
+		libgl1-mesa-glx \
+		libgl1-mesa-dri \
+		mesa-utils \
+		unzip \
+		terminator \
+		git-gui \
+		fonts-powerline \
+		meld \
+		nautilus \
+		vlc \
+	&& sed -i 's/geteuid/getppid/' /usr/bin/vlc \
+	&& rm -rf /var/lib/apt/lists/* 
+
+# Setup Pycharm
+RUN \
+	wget https://download.jetbrains.com/python/pycharm-community-2020.1.2.tar.gz \
+	&& mv pycharm-community-* pycharm-community.tar.gz \
+	&& tar xfz pycharm-*.tar.gz -C /opt/ \
+	&& rm pycharm-community.tar.gz \
+	&& echo 'alias pycharm="/opt/pycharm-community-2020.1.2/bin/pycharm.sh"' >> /root/.bashrc 
+
+# Install Visual Studio Code
+RUN \
+	apt-get update -y \
+	&& apt-get install -y \
+		apt-transport-https \
+		ca-certificates \
+	&& curl https://packages.microsoft.com/keys/microsoft.asc | gpg --dearmor > microsoft.gpg \
+	&& mv microsoft.gpg /etc/apt/trusted.gpg.d/microsoft.gpg \
+	&& sh -c 'echo "deb [arch=amd64] https://packages.microsoft.com/repos/vscode stable main" > /etc/apt/sources.list.d/vscode.list' \
+	&& apt-get update -y \
+	&& apt-get install -y code \
+	&& rm -rf /var/lib/apt/lists/* 
+
+# Setup new ROS key + install ros packages
+RUN \
+	apt-key del 421C365BD9FF1F717815A3895523BAEEB01FA116 \
+	&& apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 \
+	&& apt-get update -y && apt-get upgrade -y \
+	&& apt-get install -y \
+		ros-$ROS_DISTRO-ros-control \ 
+		ros-$ROS_DISTRO-ros-controllers \ 
+		ros-$ROS_DISTRO-gazebo-ros-pkgs \
+		ros-$ROS_DISTRO-gazebo-ros-control \
+		#ros-$ROS_DISTRO-rosbridge-server \
+		ros-$ROS_DISTRO-audio-common \
+		ros-$ROS_DISTRO-mongodb-store \
+		ros-$ROS_DISTRO-mongodb-log \
+	&& rm -rf /var/lib/apt/lists/* 
+
+# Setup Python2 for cordial
+RUN \
+	apt-get update -y && apt-get upgrade -y \
+	&& apt-get install -y \
+		alsa \
+		gstreamer1.0-alsa \
+		vorbis-tools \
+	&& apt-get install -y \
+		python \
+		python-pip \
+		python-scipy \
+		python-gst0.10 \
+		python-mock \
+		python-pyaudio \
+	&& python2 -m pip install --upgrade pip \
+	&& python2 -m pip install \
+		rospkg \
+		catkin_pkg \
+		boto3==1.12.11 \
+		soundfile==0.10.3.post1 \
+		speedtest-cli==2.1.2 \
+	&& rm -rf /var/lib/apt/lists/* 
+
+# Setup HTTP server
+RUN \
+	apt-get update -y && apt-get upgrade -y \
+	&& apt-get install -y \
+		nodejs \
+		npm \
+	&& npm install http-server -g \
+	&& ln -s /usr/bin/nodejs /usr/bin/node \
+	&& rm -rf /var/lib/apt/lists/* 
+
+# Setup Python3.6 with pip, virtualenv, and ROS
+RUN \
+	add-apt-repository -y ppa:deadsnakes/ppa \
+	&& apt-get update -y && apt-get upgrade -y \
+	&& apt-get install -y \
+		wget \
+		python3-pip \
+		python3-yaml \
+		python3-virtualenv \
+		python3-vcstool \
+	&& rm -rf /var/lib/apt/lists/* 
+
+# Setup MongoDB
+RUN \
+	apt-get update -y && apt-get upgrade -y \
+	&& apt-get install -y \
+		python-pymongo \
+		mongodb \
+		scons \
+	&& rm -rf /var/lib/apt/lists/* 
+
+
+# Clone relevant repositories
+#ENV commit_tag "abm_pilot"
+# ENV git_options "-b ${commit_tag} --single-branch --recursive"
+ENV git_options "--recursive"
+RUN \
+	mkdir -p /root/ws/catkin_ws/src \
+	&& cd /root/ws/catkin_ws/src \
+	&& git clone ${git_options} https://github.com/robotpt/qt-robot \
+	&& git clone ${git_options} https://github.com/robotpt/cordial \
+	&& git clone https://github.com/RobotWebTools/rosbridge_suite 
+
+
+# Build repositories
+RUN \
+	cd /root/ws/catkin_ws \
+	&& /bin/bash -c "source /opt/ros/kinetic/setup.bash && catkin_make"
+
+
+# Put things you want in your ~/.bashrc here
+RUN \
+	unset DEBIAN_FRONTEND \
+	&& echo " \
+alias gs='git status'\n\
+alias gl='git log --pretty=oneline --graph'\n\
+alias gb='git branch -a'\n\
+alias gg='git gui'\n\
+alias gd='git diff HEAD'\n\
+alias code='code --user-data-dir /root/.visual_code/'\n\
+	" >> ~/.bashrc

docker/docker-compose.yml

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+version: '3.4'
+
+services:
+  cordial_docker:
+    build:
+      context: .
+      network: host
+    environment:
+      DISPLAY: $DISPLAY
+      QT_GRAPHICSSYSTEM: native
+      ROS_DISTRO: kinetic
+      ROS_MASTER_URI: $ROS_MASTER_URI
+      IS_DOCKER_ENV: "true"
+    privileged: true
+    network_mode: host
+    devices: 
+      - /dev/dri:/dev/dri
+      - /dev/snd:/dev/snd
+    volumes:
+      - workspace:/root/ws
+      - pycharm_config:/root/.PyCharmCE2020.1.2/
+      - visual_code_plugins:/root/.vscode/
+      - visual_code_user_data:/root/.visual_code/
+      - aws_config:/root/.aws/
+      - ros_logs:/root/.ros/log
+      - ./shared/:/root/shared/
+      - ~/.gitconfig/:/root/.gitconfig/:ro
+      - ~/.vimrc/:/root/.vimrc/:ro
+      - ~/.vim/:/root/.vim/:ro
+      - /etc/timezone:/etc/timezone:ro
+      - /etc/localtime:/etc/localtime:ro
+    working_dir: /root/
+
+volumes:
+  workspace:
+  pycharm_config:
+  visual_code_user_data:
+  visual_code_plugins:
+  aws_config:
+  ros_logs:

docker/run.sh

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+#!/bin/bash
+
+# Go to the directory of this file -- needed for docker-compose
+FILE_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
+cd $FILE_DIR
+
+if [ -z ${1+x} ]; 
+then 
+	MODE="popup";
+else
+	MODE=$1;
+fi
+
+SERVICE_NAME="cordial_docker"
+ROS_MASTER_URI=$ROS_MASTER_URI docker-compose up --build
+case "$MODE" in 
+	terminal | terminal_debug | t )
+		ROS_MASTER_URI=$ROS_MASTER_URI docker-compose run $SERVICE_NAME bash -c "source ~/ws/catkin_ws/devel/setup.bash && bash"
+		;;
+	stop | kill | down )
+		docker-compose down
+		;;
+	terminator | popup )
+		xhost +local: # share display on ubuntu platforms
+		ROS_MASTER_URI=$ROS_MASTER_URI docker-compose run $SERVICE_NAME bash -c "terminator -e \"echo 'Entering Docker Container...' && bash\""
+		;;
+	* )
+		echo "Not a valid command"
+		;;
+esac