Update docker files

.pre-commit-config.yaml

@@ -70,9 +70,13 @@ repos:
 
   # NOTE: Broken on arm64. Will need to bump once https://github.com/hadolint/hadolint/issues/840 is fixed.
   - repo: https://github.com/hadolint/hadolint
-    rev: v2.10.0
+    rev: v2.11.0
     hooks:
-      - id: hadolint-docker
+      - id: hadolint
+        name: "Lint Dockerfiles"
+        language: docker_image
+        types: ["dockerfile"]
+        entry: hadolint/hadolint:2.11.0 hadolint
 
   - repo: https://github.com/pre-commit/mirrors-prettier
     rev: "v3.1.0"

Dockerfile

@@ -96,6 +96,130 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
 # Set up the user's .bashrc file and shell.
 CMD ["/usr/bin/bash"]
 
+
+##################################################
+# Starting from the specified MoveIt Pro release with CUDA GPU #
+##################################################
+# The image tag is specified in the argument itself.
+# hadolint ignore=DL3006
+FROM ${MOVEIT_STUDIO_BASE_IMAGE} AS base-gpu
+
+# Create a non-root user
+ARG USERNAME
+ARG USER_UID
+ARG USER_GID
+
+# hadolint ignore=DL3008
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+	--mount=type=cache,target=/var/lib/apt,sharing=locked \
+	apt-get update && \
+	apt-get install -y --no-install-recommends software-properties-common wget && \
+	add-apt-repository ppa:graphics-drivers/ppa && \
+	wget --progress=dot:giga -q https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2204/x86_64/cuda-keyring_1.1-1_all.deb && \
+	dpkg -i cuda-keyring_1.1-1_all.deb && \
+	wget --progress=dot:giga https://developer.download.nvidia.com/compute/cuda/12.6.3/local_installers/cuda-repo-ubuntu2204-12-6-local_12.6.3-560.35.05-1_amd64.deb && \
+	dpkg -i cuda-repo-ubuntu2204-12-6-local_12.6.3-560.35.05-1_amd64.deb && \
+    cp /var/cuda-repo-ubuntu2204-12-6-local/cuda-*-keyring.gpg /usr/share/keyrings/ && \
+    apt-get update && \
+	apt-get install -y --no-install-recommends \
+    	cudnn \
+    	cudnn-cuda-12 \
+    	cuda-toolkit-12-6 \
+        libnvinfer10 \
+        libnvonnxparsers10
+
+# Copy source code from the workspace's ROS 2 packages to a workspace inside the container
+ARG USER_WS=/home/${USERNAME}/user_ws
+ENV USER_WS=${USER_WS}
+RUN mkdir -p ${USER_WS}/src ${USER_WS}/build ${USER_WS}/install ${USER_WS}/log
+COPY ./src ${USER_WS}/src
+
+# Also mkdir with user permission directories which will be mounted later to avoid docker creating them as root
+WORKDIR $USER_WS
+# hadolint ignore=DL3008
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,target=/var/lib/apt,sharing=locked \
+    groupadd --gid $USER_GID ${USERNAME} && \
+    useradd --uid $USER_UID --gid $USER_GID --shell /bin/bash --create-home ${USERNAME} && \
+    apt-get update && \
+    apt-get install -q -y --no-install-recommends sudo && \
+    echo ${USERNAME} ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/${USERNAME} && \
+    chmod 0440 /etc/sudoers.d/${USERNAME} && \
+    cp -r /etc/skel/. /home/${USERNAME} && \
+    mkdir -p \
+      /home/${USERNAME}/.ccache \
+      /home/${USERNAME}/.config \
+      /home/${USERNAME}/.ignition \
+      /home/${USERNAME}/.colcon \
+      /home/${USERNAME}/.ros && \
+    chown -R $USER_UID:$USER_GID /home/${USERNAME} /opt/overlay_ws/
+
+# Install additional dependencies
+# You can also add any necessary apt-get install, pip install, etc. commands at this point.
+# NOTE: The /opt/overlay_ws folder contains MoveIt Pro binary packages and the source file.
+# hadolint ignore=SC1091
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,target=/var/lib/apt,sharing=locked \
+    . /opt/overlay_ws/install/setup.sh && \
+    apt-get update && \
+    rosdep install -q -y \
+      --from-paths src \
+      --ignore-src
+
+# Set up colcon defaults for the new user
+USER ${USERNAME}
+RUN colcon mixin add default \
+    https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml && \
+    colcon mixin update && \
+    colcon metadata add default \
+    https://raw.githubusercontent.com/colcon/colcon-metadata-repository/master/index.yaml && \
+    colcon metadata update
+COPY colcon-defaults.yaml /home/${USERNAME}/.colcon/defaults.yaml
+
+# hadolint ignore=DL3002
+USER root
+
+# Set up the user's .bashrc file and shell.
+CMD ["/usr/bin/bash"]
+
+###################################################################
+# Target for the developer build which does not compile any code. #
+###################################################################
+FROM base-gpu  AS user-overlay-gpu-dev
+
+ARG USERNAME
+ARG USER_WS=/home/${USERNAME}/user_ws
+ENV USER_WS=${USER_WS}
+
+# Install any additional packages for development work
+# hadolint ignore=DL3008
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,target=/var/lib/apt,sharing=locked \
+    apt-get update && \
+    apt-get install -y --no-install-recommends \
+        less \
+        gdb \
+        nano
+
+# Set up the user's .bashrc file and shell.
+CMD ["/usr/bin/bash"]
+
+#########################################
+# Target for compiled, deployable image with GPU support #
+#########################################
+FROM base-gpu AS user-overlay-gpu
+
+ARG USERNAME
+ARG USER_WS=/home/${USERNAME}/user_ws
+ENV USER_WS=${USER_WS}
+
+# Compile the workspace
+WORKDIR $USER_WS
+
+# Set up the user's .bashrc file and shell.
+CMD ["/usr/bin/bash"]
+
+
 #########################################
 # Target for compiled, deployable image #
 #########################################

docker-compose.yaml

@@ -9,15 +9,6 @@ services:
   # Starts the MoveIt Pro Agent and the Bridge between the Agent and the Web UI.
   agent_bridge:
 
-    # IMPORTANT: Enable Nvidia GPUs by uncommenting the lines below:
-    # deploy:
-    #   resources:
-    #     reservations:
-    #       devices:
-    #         - driver: nvidia
-    #           count: 1
-    #           capabilities: [gpu]
-
   # Starts the robot drivers.
   drivers: