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Add Dockerfile and GitHub Actions workflow for building AOC Docker images (#1)
* Add Dockerfile and GitHub Actions workflow for building AOC Docker images * Add GitHub Actions workflow for building AOC Docker images with multiarch support * Update Docker build workflow to enable sequential builds and dynamic architecture support * Add CUDA Dockerfile and update build workflow for CUDA support * Refactor Docker build configuration to use ROS_DISTRO variable for tagging and installation * Add ROS installation and setup commands to CUDA Dockerfile * Add ROS_DISTRO argument and environment variables to CUDA Dockerfile * Add ARG declarations for BASE_IMAGE and ROS_DISTRO in Dockerfiles * Add CUDA Dockerfile stages for base and desktop images with ROS support * Comment out cache-from and cache-to lines in Docker build configuration * Move python3-rosdep installation to the correct stage in Dockerfile * Add target specification for Docker build stage in workflow * Add additional CUDA Dockerfile stages for base and desktop images with ROS support * Uncomment cache-from and cache-to lines in Docker build configuration * Initialize rosdep before updating in Dockerfile * Add support for ROS Jazzy in Docker build configuration * Refactor Docker build configuration by removing unused desktop stage and updating image descriptions * Add reusable Docker image build workflow and CUDA desktop Dockerfile * Add outputs section for image digest in Docker build workflow * Reorder Docker build steps to ensure proper setup of buildx before building and pushing the image * Fix Dockerfile syntax for ros installation * chore: update from ros_dist to ros_distro added to readme description of images produced * feat: add non root `ros` user --------- Co-authored-by: Josh Cooper <joshua@joshuacooper.co.uk>
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‎.github/workflows/_build-image.yaml‎

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name: Build a single Docker image (reusable)
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on:
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workflow_call:
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inputs:
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base_image:
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description: The FROM base image
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required: true
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type: string
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push_image:
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description: Image name on the LCAS registry
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required: true
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type: string
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ros_distro:
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required: true
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type: string
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dockerfile:
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required: true
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type: string
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architectures:
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required: true
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type: string
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outputs:
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digest:
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description: Image digest from the build
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value: ${{ jobs.build.outputs.digest }}
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secrets:
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LCAS_REGISTRY_PUSHER:
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required: true
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LCAS_REGISTRY_TOKEN:
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required: true
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jobs:
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build:
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runs-on: [lcas, qemu]
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outputs:
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digest: ${{ steps.build.outputs.digest }}
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steps:
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- uses: actions/setup-node@v4
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- uses: actions/checkout@v3
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- run: echo "BRANCH=${GITHUB_REF##*/}" >> $GITHUB_ENV
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- uses: docker/login-action@v3
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with:
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registry: lcas.lincoln.ac.uk
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username: ${{ secrets.LCAS_REGISTRY_PUSHER }}
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password: ${{ secrets.LCAS_REGISTRY_TOKEN }}
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- name: Docker meta
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id: meta
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uses: docker/metadata-action@v5
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with:
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flavor: latest=false
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labels: |
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org.opencontainers.image.description=AOC Docker Image (${{ inputs.push_image }}, ${{ inputs.ros_distro }})
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org.opencontainers.image.authors=L-CAS Team
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images: lcas.lincoln.ac.uk/${{ inputs.push_image }}
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tags: |
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type=raw,value=${{ inputs.ros_distro }}-staging
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type=raw,enable=${{ github.event_name != 'pull_request' }},value=${{ inputs.ros_distro }}-latest
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type=ref,enable=${{ github.event_name != 'pull_request' }},event=branch,prefix=${{ inputs.ros_distro }}-
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type=semver,pattern={{version}},prefix=${{ inputs.ros_distro }}-
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type=semver,pattern={{major}}.{{minor}},prefix=${{ inputs.ros_distro }}-
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type=semver,pattern={{major}},prefix=${{ inputs.ros_distro }}-
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- uses: docker/setup-buildx-action@v3
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- name: Build and push
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id: build
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uses: docker/build-push-action@v6
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with:
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context: ./docker
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file: ./${{ inputs.dockerfile }}
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platforms: ${{ inputs.architectures }}
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push: true
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cache-from: type=registry,ref=lcas.lincoln.ac.uk/cache/${{ inputs.push_image }}:${{ inputs.ros_distro }}
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cache-to: type=registry,ref=lcas.lincoln.ac.uk/cache/${{ inputs.push_image }}:${{ inputs.ros_distro }},mode=max
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tags: ${{ steps.meta.outputs.tags }}
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labels: ${{ steps.meta.outputs.labels }}
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build-args: |
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BASE_IMAGE=${{ inputs.base_image }}
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ROS_DISTRO=${{ inputs.ros_distro }}

‎.github/workflows/docker-build-and-push.yaml‎

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name: Build AOC Docker Images
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on:
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push:
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branches: [ main ]
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tags: [ '*' ]
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pull_request:
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branches: [ main ]
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workflow_dispatch:
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jobs:
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# ── Level 0: no dependencies ──────────────────────────────────────────────
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ros-humble:
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uses: ./.github/workflows/_build-image.yaml
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with:
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base_image: ros:humble
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push_image: ros
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ros_distro: humble
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dockerfile: base.dockerfile
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architectures: linux/amd64,linux/arm64
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secrets: inherit
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ros-jazzy:
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uses: ./.github/workflows/_build-image.yaml
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with:
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base_image: ros:jazzy
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push_image: ros
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ros_distro: jazzy
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dockerfile: base.dockerfile
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architectures: linux/amd64,linux/arm64
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secrets: inherit
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ros-cuda-humble:
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uses: ./.github/workflows/_build-image.yaml
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with:
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base_image: nvidia/cuda:11.8.0-runtime-ubuntu22.04
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push_image: ros_cuda
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ros_distro: humble
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dockerfile: cuda.dockerfile
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architectures: linux/amd64
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secrets: inherit
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ros-cuda-jazzy:
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uses: ./.github/workflows/_build-image.yaml
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with:
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base_image: nvidia/cuda:12.6.3-cudnn-devel-ubuntu24.04
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push_image: ros_cuda
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ros_distro: jazzy
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dockerfile: cuda.dockerfile
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architectures: linux/amd64
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secrets: inherit
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# ── Level 1: base_image is the exact digest from level 0 ─────────────────
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ros-cuda-desktop-humble:
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needs: ros-cuda-humble
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uses: ./.github/workflows/_build-image.yaml
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with:
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# Digest is immutable — no staging tag, no race condition, no cleanup
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base_image: lcas.lincoln.ac.uk/ros_cuda@${{ needs.ros-cuda-humble.outputs.digest }}
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push_image: ros_cuda_desktop
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ros_distro: humble
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dockerfile: cuda_desktop.dockerfile
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architectures: linux/amd64
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secrets: inherit
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ros-cuda-desktop-jazzy:
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needs: ros-cuda-jazzy
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uses: ./.github/workflows/_build-image.yaml
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with:
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base_image: lcas.lincoln.ac.uk/ros_cuda@${{ needs.ros-cuda-jazzy.outputs.digest }}
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push_image: ros_cuda_desktop
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ros_distro: jazzy
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dockerfile: cuda_desktop.dockerfile
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architectures: linux/amd64
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secrets: inherit

‎README.md‎

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# aoc_container_base
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A repository of verstile ROS-enabled Docker containers
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A repository of verstile ROS-enabled Docker containers, orginally developed as apart of the [Agri-OpenCore (AOC) project](https://agri-opencore.org).
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| Container Name | Tags | Purpose |
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| ------------------------------------- | --------------------- | --------------------------------------------------------------------------------------------------------------------------------- |
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| `lcas.lincoln.ac.uk/ros` | { `humble`, `jazzy` } | Base ROS Container, the minimal environment you need for ROS |
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| `lcas.lincoln.ac.uk/ros_cuda` | { `humble`, `jazzy` } | ROS + Nvidia. When you need to use a GPU in your ROS environment for either better quality simulation or AI workloads. |
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| `lcas.lincoln.ac.uk/ros_cuda_desktop` | { `humble`, `jazzy` } | ROS + Nvidia + Packages. Installs the `ros-{distro}-desktop` varient so there is the full ROS stack available. |

‎base.dockerfile‎

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ARG BASE_IMAGE=ros:humble
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ARG ROS_DISTRO=humble
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FROM ${BASE_IMAGE} AS base
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ARG BASE_IMAGE
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ARG ROS_DISTRO
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ENV BASE_IMAGE=${BASE_IMAGE}
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ENV ROS_DISTRO=${ROS_DISTRO}
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ENV DEBIAN_FRONTEND=noninteractive
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RUN apt-get update && apt-get upgrade -y && apt-get install -y \
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build-essential \
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cmake \
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git \
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curl \
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wget \
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unzip \
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ros-${ROS_DISTRO}-ros-base \
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&& rm -rf /var/lib/apt/lists/*
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RUN . /opt/ros/${ROS_DISTRO}/setup.sh && rosdep update
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ARG USERNAME=ros
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ARG USER_UID=1001
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ARG USER_GID=$USER_UID
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# Create a non-root user
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RUN groupadd --gid $USER_GID $USERNAME \
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&& useradd -s /bin/bash --uid $USER_UID --gid $USER_GID -m $USERNAME \
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# Add sudo support for the non-root user
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&& apt-get update \
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&& apt-get install -y --no-install-recommends sudo \
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&& echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME\
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&& chmod 0440 /etc/sudoers.d/$USERNAME \
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&& rm -rf /var/lib/apt/lists/*
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‎cuda.dockerfile‎

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ARG BASE_IMAGE=nvidia/cuda:11.8.0-runtime-ubuntu22.04
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ARG ROS_DISTRO=humble
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###########################################
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FROM ${BASE_IMAGE} AS base
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ARG BASE_IMAGE
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ARG ROS_DISTRO
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ENV BASE_IMAGE=${BASE_IMAGE}
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ENV ROS_DISTRO=${ROS_DISTRO}
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ENV DEBIAN_FRONTEND=noninteractive
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# Install language
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RUN apt-get update ; \
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apt-get upgrade -y && \
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apt-get install -y --no-install-recommends \
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locales \
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curl \
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gnupg2 \
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lsb-release \
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git \
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nano \
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python3-setuptools \
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software-properties-common \
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wget \
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tzdata \
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&& locale-gen en_US.UTF-8 \
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&& update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 \
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&& rm -rf /var/lib/apt/lists/*
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ENV LANG=en_US.UTF-8
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RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
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# Prepare ROS2
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RUN add-apt-repository universe \
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&& curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \
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&& 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 $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
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RUN apt-get update && apt-get install -y --no-install-recommends \
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ros-${ROS_DISTRO}-ros-base \
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python3-rosdep \
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&& rm -rf /var/lib/apt/lists/*
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RUN . /opt/ros/${ROS_DISTRO}/setup.sh && rosdep init && rosdep update
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ARG USERNAME=ros
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ARG USER_UID=1001
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ARG USER_GID=$USER_UID
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# Create a non-root user
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RUN groupadd --gid $USER_GID $USERNAME \
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&& useradd -s /bin/bash --uid $USER_UID --gid $USER_GID -m $USERNAME \
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# Add sudo support for the non-root user
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&& apt-get update \
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&& apt-get install -y --no-install-recommends sudo \
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&& echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME\
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&& chmod 0440 /etc/sudoers.d/$USERNAME \
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&& rm -rf /var/lib/apt/lists/*
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‎cuda_desktop.dockerfile‎

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ARG BASE_IMAGE
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###########################################
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FROM ${BASE_IMAGE} AS base
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RUN apt-get update && apt-get install -y --no-install-recommends \
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ros-${ROS_DISTRO}-desktop \
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&& rm -rf /var/lib/apt/lists/*

‎docker/.dockerignore‎

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