update docker structure

Author: Saurav Agarwal

cppsrc/core/src/coverage_system.cpp

@@ -129,7 +129,7 @@ CoverageSystem::CoverageSystem(Parameters const &params,
   }
   robots_.reserve(robot_positions.size());
   num_robots_ = robot_positions.size();
-  if(params_.pNumRobots != num_robots_) {
+  if(params_.pNumRobots != static_cast<int>(num_robots_)) {
     std::cerr << "Number of robots in the file does not match the number of robots in the parameters\n";
     std::cerr << "Number of robots in the file: " << num_robots_ << " Number of robots in the parameters: " << params_.pNumRobots << std::endl;
     exit(1);

doc/manual/installation.md

@@ -77,19 +77,26 @@ docker start -i coverage-control-$USER # Replace with the name of the container
 - `--with-ros` : With ROS support
 - `--noble` : Ubuntu 24.04 Noble
 
-The base image is `ghcr.io/\repo_owner_lower/coveragecontrol` with different tags for different versions and configurations.
+The base image is `ghcr.io/\repo_owner_lower/pytorch_base` with different tags for different versions and configurations.
 
 |Tags Suffix | Flags|
 |--- | ---|
 |`jammy-torch2.5.1-cuda12.4.1-humble` | `--with-ros --with-cuda`|
 |`jammy-torch2.5.1-cuda12.4.1` | `--with-cuda`|
 |`jammy-torch2.5.1-humble` | `--with-ros`|
 |`jammy-torch2.5.1` | None|
+|`noble-torch2.5.1-cuda12.6.2-jazzy` | `--with-ros --with-cuda --noble`|
+|`noble-torch2.5.1-cuda12.6.2` | `--with-cuda --noble`|
 |`noble-torch2.5.1-jazzy` | `--with-ros --noble`|
 |`noble-torch2.5.1` | --noble|
 
-The library is already built and installed in the container.
-However, if you want to build it again, you can do so following the [Installation from Source](#installation-from-source) instructions (except for the prerequisites).
+
+Install the library available on PyPI:
+```bash
+pip install coverage_control
+```
+
+Alternatively, follow the [Installation from Source](#installation-from-source) instructions (except for the prerequisites).
 
 --------
 

utils/docker/base_images/build_all_images.sh

@@ -52,3 +52,4 @@ TAG_NAME=latest
 build_image $1 $TAG_NAME ubuntu24.04/Dockerfile
 
 docker buildx build --platform linux/arm64 -t ${1}:arm64-jammy-torch2.5.1-humble -f ubuntu22.04/arm64-ros2.Dockerfile --push .
+docker buildx build --platform linux/arm64 -t ${1}:arm64-noble-torch2.5.1-jazzy -f ubuntu24.04/arm64-ros2.Dockerfile --push .

utils/docker/base_images/ubuntu22.04/arm64-ros2.Dockerfile

@@ -49,10 +49,11 @@ RUN apt-get -y install \
 											 libgeos-dev \
 											 libyaml-cpp-dev \
 											 vim \
+                       neovim \
 											 tmux \
 											 ffmpeg \
+											 unzip \
 											 gnuplot-nox \
-                       unzip \
 											 ninja-build libpng-dev libjpeg-dev libopencv-dev python3-opencv
 
 RUN add-apt-repository universe
@@ -69,6 +70,7 @@ RUN rm -rf /var/lib/apt/lists/*; \
 		rm -f /var/cache/apt/archives/parital/*.deb; \
 		rm -f /var/cache/apt/*.bin
 
+RUN mkdir -p /opt
 RUN mkdir download; \
 		wget https://github.com/AgarwalSaurav/libtorch_arm64/releases/download/v${PYTORCH_VERSION}/libtorch-cxx11-abi-shared-with-deps-${PYTORCH_VERSION}.zip -O download/libtorch.zip; \
 		unzip download/libtorch.zip -d /opt/; \

utils/docker/base_images/ubuntu22.04/cuda-ros2.Dockerfile

@@ -75,7 +75,6 @@ RUN mkdir download; \
 		unzip download/libtorch.zip -d /opt/; \
 		rm -r download
 
-RUN echo "LD_LIBRARY_PATH=/usr/local/lib:/opt/libtorch/lib:${LD_LIBRARY_PATH}" >> /etc/environment
 ENV Torch_DIR=/opt/libtorch/share/cmake/
 
 COPY requirements.txt /opt/requirements.txt
@@ -86,4 +85,4 @@ RUN /opt/venv/bin/pip install --no-cache-dir catkin_pkg empy==3.3.4 lark
 ENV VENV_PATH=/opt/venv
 
 COPY .ros.humble.bashrc /root/.bashrc
-RUN echo "source /opt/venv/bin/activate" >> /root/.bashrc
+RUN echo 'LD_LIBRARY_PATH=/usr/local/lib:/opt/libtorch/lib:${LD_LIBRARY_PATH}' >> /root/.bashrc

utils/docker/base_images/ubuntu22.04/cuda.Dockerfile

@@ -69,7 +69,6 @@ RUN mkdir download; \
 		unzip download/libtorch.zip -d /opt/; \
 		rm -r download
 
-RUN echo "LD_LIBRARY_PATH=/usr/local/lib:/opt/libtorch/lib:${LD_LIBRARY_PATH}" >> /etc/environment
 ENV Torch_DIR=/opt/libtorch/share/cmake/
 
 COPY requirements.txt /opt/requirements.txt
@@ -79,4 +78,4 @@ RUN /opt/venv/bin/pip install --no-cache-dir -r /opt/requirements.txt
 ENV VENV_PATH=/opt/venv
 
 COPY .bashrc /root/.bashrc
-RUN echo "source /opt/venv/bin/activate" >> /root/.bashrc
+RUN echo 'LD_LIBRARY_PATH=/usr/local/lib:/opt/libtorch/lib:${LD_LIBRARY_PATH}' >> /root/.bashrc

utils/docker/base_images/ubuntu22.04/ros2.Dockerfile

@@ -49,6 +49,7 @@ RUN apt-get -y install \
 											 libgeos-dev \
 											 libyaml-cpp-dev \
 											 vim \
+                       neovim \
 											 tmux \
 											 ffmpeg \
 											 unzip \
@@ -75,7 +76,6 @@ RUN mkdir download; \
 		unzip download/libtorch.zip -d /opt/; \
 		rm -r download
 
-RUN echo "LD_LIBRARY_PATH=/usr/local/lib:/opt/libtorch/lib:${LD_LIBRARY_PATH}" >> /etc/environment
 ENV Torch_DIR=/opt/libtorch/share/cmake/
 
 COPY requirements_cpu.txt /opt/requirements.txt
@@ -86,4 +86,4 @@ RUN /opt/venv/bin/pip install --no-cache-dir catkin_pkg empy==3.3.4 lark
 ENV VENV_PATH=/opt/venv
 
 COPY .ros.humble.bashrc /root/.bashrc
-RUN echo "source /opt/venv/bin/activate" >> /root/.bashrc
+RUN echo 'LD_LIBRARY_PATH=/usr/local/lib:/opt/libtorch/lib:${LD_LIBRARY_PATH}' >> /root/.bashrc

utils/docker/base_images/ubuntu24.04/Dockerfile

@@ -23,6 +23,7 @@ RUN apt-get	-y update; \
 											 gpg \
 											 curl \
 											 gdb \
+                       libbz2-dev \
 											 software-properties-common \
 											 ca-certificates \
 											 lsb-release \
@@ -71,4 +72,4 @@ RUN /opt/venv/bin/pip install --no-cache-dir -r /opt/requirements.txt
 ENV VENV_PATH=/opt/venv
 
 COPY .bashrc /root/.bashrc
-RUN echo "source /opt/venv/bin/activate" >> /root/.bashrc
+RUN echo 'LD_LIBRARY_PATH=/usr/local/lib:/opt/libtorch/lib:${LD_LIBRARY_PATH}' >> /root/.bashrc

utils/docker/base_images/ubuntu24.04/arm64-ros2.Dockerfile

@@ -1,10 +1,10 @@
-FROM arm64v8/ubuntu:22.04
+FROM arm64v8/ubuntu:24.04
 
 SHELL ["/bin/bash", "-c"]
 
 ENV DEBIAN_FRONTEND=noninteractive
 
-ARG PYTHON_VERSION="3.10"
+ARG PYTHON_VERSION="3.12"
 ARG PYTORCH_VERSION="2.5.1"
 
 ENV PYTHON_VERSION=${PYTHON_VERSION}
@@ -23,6 +23,7 @@ RUN apt-get	-y update; \
 											 gpg \
 											 curl \
 											 gdb \
+                       libbz2-dev \
 											 software-properties-common \
 											 ca-certificates \
 											 lsb-release \
@@ -33,13 +34,6 @@ RUN apt-get	-y update; \
 											 python${PYTHON_VERSION}-venv \
 											 python-is-python3
 
-# Add repo for installing latest version of cmake
-RUN wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | gpg --dearmor - | tee /usr/share/keyrings/kitware-archive-keyring.gpg >/dev/null; \
-		echo 'deb [signed-by=/usr/share/keyrings/kitware-archive-keyring.gpg] https://apt.kitware.com/ubuntu/ jammy main' | tee /etc/apt/sources.list.d/kitware.list >/dev/null; \
-		apt-get update; \
-		rm /usr/share/keyrings/kitware-archive-keyring.gpg
-RUN apt install -y kitware-archive-keyring
-
 RUN apt-get -y install \
 											 cmake \
 											 libgmp-dev \
@@ -49,10 +43,11 @@ RUN apt-get -y install \
 											 libgeos-dev \
 											 libyaml-cpp-dev \
 											 vim \
+                       neovim \
 											 tmux \
 											 ffmpeg \
+											 unzip \
 											 gnuplot-nox \
-                       unzip \
 											 ninja-build libpng-dev libjpeg-dev libopencv-dev python3-opencv
 
 RUN add-apt-repository universe
@@ -61,14 +56,15 @@ RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o
 RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
 
 RUN apt-get -y update && apt-get -y upgrade
-RUN apt -y install ros-humble-desktop ros-dev-tools python3-colcon-common-extensions python3-vcstool python3-pip python3-argcomplete python3-rosdep python3-rosinstall-generator python3-rosinstall build-essential ros-humble-rmw-cyclonedds-cpp ros-humble-eigen3-cmake-module
+RUN apt-get -y install ros-jazzy-desktop ros-dev-tools python3-colcon-common-extensions python3-vcstool python3-pip python3-argcomplete python3-rosdep python3-rosinstall-generator build-essential
 
 # Remove cache to reduce image size
 RUN rm -rf /var/lib/apt/lists/*; \
 		rm -f /var/cache/apt/archives/*.deb; \
 		rm -f /var/cache/apt/archives/parital/*.deb; \
 		rm -f /var/cache/apt/*.bin
 
+RUN mkdir -p /opt
 RUN mkdir download; \
 		wget https://github.com/AgarwalSaurav/libtorch_arm64/releases/download/v${PYTORCH_VERSION}/libtorch-cxx11-abi-shared-with-deps-${PYTORCH_VERSION}.zip -O download/libtorch.zip; \
 		unzip download/libtorch.zip -d /opt/; \
@@ -79,10 +75,10 @@ ENV Torch_DIR=/opt/libtorch/share/cmake/
 
 COPY requirements_cpu.txt /opt/requirements.txt
 RUN python${PYTHON_VERSION} -m venv /opt/venv
-RUN /opt/venv/bin/pip install --no-cache-dir wheel
+RUN /opt/venv/bin/pip install --no-cache-dir wheel setuptools==68.1.2
 RUN /opt/venv/bin/pip install --no-cache-dir -r /opt/requirements.txt
-RUN /opt/venv/bin/pip install --no-cache-dir catkin_pkg empy==3.3.4 lark
+RUN /opt/venv/bin/pip install --no-cache-dir catkin_pkg lark
 ENV VENV_PATH=/opt/venv
 
-COPY .ros.humble.bashrc /root/.bashrc
+COPY .ros.jazzy.bashrc /root/.bashrc
 RUN echo 'LD_LIBRARY_PATH=/usr/local/lib:/opt/libtorch/lib:${LD_LIBRARY_PATH}' >> /root/.bashrc

utils/docker/base_images/ubuntu24.04/cuda-ros2.Dockerfile

@@ -23,6 +23,7 @@ RUN apt-get	-y update; \
 											 gpg \
 											 curl \
 											 gdb \
+                       libbz2-dev \
 											 software-properties-common \
 											 ca-certificates \
 											 lsb-release \