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Adding Dockerfile and entrypoint script and updating README to suppor… (#153)
* Adding Dockerfile and entrypoint script and updating README to support this sample app with Robomaker after recent changes * Update README.md
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‎Dockerfile‎

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# ======== ROS/Colcon Dockerfile ========
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# This sample Dockerfile will build a Docker image for AWS RoboMaker
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# in any ROS workspace where all of the dependencies are managed by rosdep.
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#
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# Adapt the file below to include your additional dependencies/configuration outside of rosdep.
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# =======================================
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# ==== Arguments ====
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# Override the below arguments to match your application configuration.
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# ===================
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# ROS Distribution (ex: melodic, foxy, etc.)
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ARG ROS_DISTRO=melodic
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# Application Name (ex: helloworld)
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ARG APP_NAME=robomaker_app
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# Path to workspace directory on the host (ex: ./robot_ws)
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ARG LOCAL_WS_DIR=workspace
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# User to create and use (default: robomaker)
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ARG USERNAME=robomaker
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# The gazebo version to use if applicable (ex: gazebo-9, gazebo-11)
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ARG GAZEBO_VERSION=gazebo-9
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# Where to store the built application in the runtime image.
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ARG IMAGE_WS_DIR=/home/$USERNAME/workspace
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# ======== ROS Build Stages ========
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# ${ROS_DISTRO}-ros-base
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# -> ros-robomaker-base
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# -> ros-robomaker-application-base
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# -> ros-robomaker-build-stage
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# -> ros-robomaker-app-runtime-image
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# ==================================
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# ==== ROS Base Image ============
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# If running in production, you may choose to build the ROS base image
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# from the source instruction-set to prevent impact from upstream changes.
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# ARG UBUNTU_DISTRO=focal
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# FROM public.ecr.aws/lts/ubuntu:${UBUNTU_DISTRO} as ros-base
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# Instruction for each ROS release maintained by OSRF can be found here: https://github.com/osrf/docker_images
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# ==================================
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# ==== Build Stage with AWS RoboMaker Dependencies ====
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# This stage creates the robomaker user and installs dependencies required to run applications in RoboMaker.
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# ==================================
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FROM public.ecr.aws/docker/library/ros:${ROS_DISTRO}-ros-base AS ros-robomaker-base
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ARG USERNAME
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ARG IMAGE_WS_DIR
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RUN apt-get clean
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RUN apt-get update && apt-get install -y \
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lsb \
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unzip \
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wget \
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curl \
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xterm \
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python3-colcon-common-extensions \
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devilspie \
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xfce4-terminal
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RUN groupadd $USERNAME && \
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useradd -ms /bin/bash -g $USERNAME $USERNAME && \
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sh -c 'echo "$USERNAME ALL=(root) NOPASSWD:ALL" >> /etc/sudoers'
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USER $USERNAME
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WORKDIR /home/$USERNAME
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RUN mkdir -p $IMAGE_WS_DIR
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# ==== ROS Application Base ====
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# This section installs exec dependencies for your ROS application.
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# Note: Make sure you have defined 'exec' and 'build' dependencies correctly in your package.xml files.
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# ========================================
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FROM ros-robomaker-base as ros-robomaker-application-base
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ARG LOCAL_WS_DIR
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ARG IMAGE_WS_DIR
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ARG ROS_DISTRO
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ARG USERNAME
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WORKDIR $IMAGE_WS_DIR
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COPY --chown=$USERNAME:$USERNAME $LOCAL_WS_DIR/src $IMAGE_WS_DIR/src
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RUN sudo apt update && \
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rosdep update && \
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rosdep fix-permissions
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# Note: This will install all dependencies.
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# You could further optimize this by only defining the exec dependencies.
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# Then, install the build dependencies in the build image.
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RUN rosdep install --from-paths src --ignore-src -r -y
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# ==== ROS Workspace Build Stage ====
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# In this stage, we will install copy source files, install build dependencies and run a build.
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# ===================================
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FROM ros-robomaker-application-base AS ros-robomaker-build-stage
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LABEL build_step="${APP_NAME}Workspace_Build"
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ARG APP_NAME
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ARG LOCAL_WS_DIR
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ARG IMAGE_WS_DIR
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RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
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colcon build \
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--install-base $IMAGE_WS_DIR/$APP_NAME
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# ==== ROS Robot Runtime Image ====
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# In the final stage, we will copy the staged install directory to the runtime image.
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# =================================
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FROM ros-robomaker-application-base AS ros-robomaker-app-runtime-image
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ARG APP_NAME
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ARG USERNAME
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ARG GAZEBO_VERSION
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ENV USERNAME=$USERNAME
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ENV APP_NAME=$APP_NAME
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ENV GAZEBO_VERSION=$GAZEBO_VERSION
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RUN rm -rf $IMAGE_WS_DIR/src
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COPY --from=ros-robomaker-build-stage $IMAGE_WS_DIR/$APP_NAME $IMAGE_WS_DIR/$APP_NAME
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# Add the application source file to the entrypoint.
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WORKDIR /
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COPY entrypoint.sh /entrypoint.sh
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RUN sudo chmod +x /entrypoint.sh && \
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sudo chown -R $USERNAME /entrypoint.sh && \
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sudo chown -R $USERNAME $IMAGE_WS_DIR/$APP_NAME
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ENTRYPOINT ["/entrypoint.sh"]

‎README.md‎

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## Using this sample with RoboMaker
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You first need to install colcon-ros-bundle. Python 3.5 or above is required.
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You first need to install [Docker](https://docs.docker.com/get-docker/) and [VCS Import Tool](http://wiki.ros.org/vcstool) (if you use VCS Import Tool). Python 3.5 or above is required.
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```bash
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pip3 install -U setuptools
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pip3 install colcon-ros-bundle
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pip3 install vcstool
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```
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After colcon-ros-bundle is installed you need to build your robot or simulation, then you can bundle with:
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After Docker and VCS Import Tool is installed you need to build your robot or simulation docker images:
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```bash
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# Bundling Robot Application
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cd robot_ws
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source install/local_setup.sh
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colcon bundle
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# Import dependencies defined in .rosinstall to each source directory using vcs import
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vcs import robot_ws < robot_ws/.rosinstall
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vcs import simulation_ws < simulation_ws/.rosinstall
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# Building Robot Application Docker Image
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DOCKER_BUILDKIT=1 docker build . \
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--build-arg ROS_DISTRO=melodic \
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--build-arg LOCAL_WS_DIR=./robot_ws \
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--build-arg APP_NAME=helloworld-robot-app \
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-t robomaker-helloworld-robot-app
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# Building Simulation Application Docker Image
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DOCKER_BUILDKIT=1 docker build . \
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--build-arg GAZEBO_VERSION=gazebo-9 \
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--build-arg ROS_DISTRO=melodic \
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--build-arg LOCAL_WS_DIR=./simulation_ws \
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--build-arg APP_NAME=helloworld-sim-app \
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-t robomaker-helloworld-sim-app
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```
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# Bundling Simulation Application
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cd simulation_ws
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source install/local_setup.sh
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colcon bundle
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This produces the Docker Images `robomaker-helloworld-robot-app` and `robomaker-helloworld-sim-app` respectively which you can view by running:
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```bash
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# Listing your Docker Images
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docker images
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```
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This produces the artifacts `robot_ws/bundle/output.tar` and `simulation_ws/bundle/output.tar` respectively.
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You'll need to upload these to an s3 bucket, then you can use these files to
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You'll need to [upload these images to Amazon ECR](https://docs.aws.amazon.com/robomaker/latest/dg/development-publish-app-containers.html), then you can use these files to
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[create a robot application](https://docs.aws.amazon.com/robomaker/latest/dg/create-robot-application.html),
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[create a simulation application](https://docs.aws.amazon.com/robomaker/latest/dg/create-simulation-application.html),
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and [create a simulation job](https://docs.aws.amazon.com/robomaker/latest/dg/create-simulation-job.html) in RoboMaker.
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and [create a simulation job](https://docs.aws.amazon.com/robomaker/latest/dg/create-simulation-job.html) in RoboMaker. Visit the [preparing-ros-application-and-simulation-containers-for-aws-robomaker](https://aws.amazon.com/blogs/robotics/preparing-ros-application-and-simulation-containers-for-aws-robomaker/#:~:text=Bash-,Publish%20docker%20images%20to%20Amazon%20ECR,-Containers%20used%20by) blog post to find the steps to upload these docker images to Amazon ECR.
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## ROS Nodes launched by this Sample
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‎entrypoint.sh‎

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#!/bin/bash
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set -e
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source "/home/$USERNAME/workspace/$APP_NAME/setup.bash"
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if [[ -f "/usr/share/$GAZEBO_VERSION/setup.sh" ]]
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then
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source /usr/share/$GAZEBO_VERSION/setup.sh
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fi
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printenv
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exec "${@:1}"

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