Adding new files and updating README to add support for new changes

Dockerfile

@@ -0,0 +1,127 @@
+# ======== ROS/Colcon Dockerfile ========
+# This sample Dockerfile will build a Docker image for AWS RoboMaker
+# in any ROS workspace where all of the dependencies are managed by rosdep.
+#
+# Adapt the file below to include your additional dependencies/configuration outside of rosdep.
+# =======================================
+
+# ==== Arguments ====
+# Override the below arguments to match your application configuration.
+# ===================
+
+# ROS Distribution (ex: melodic, foxy, etc.)
+ARG ROS_DISTRO=melodic
+# Application Name (ex: helloworld)
+ARG APP_NAME=robomaker_app
+# Path to workspace directory on the host (ex: ./robot_ws)
+ARG LOCAL_WS_DIR=workspace
+# User to create and use (default: robomaker)
+ARG USERNAME=robomaker
+# The gazebo version to use if applicable (ex: gazebo-9, gazebo-11)
+ARG GAZEBO_VERSION=gazebo-9
+# Where to store the built application in the runtime image.
+ARG IMAGE_WS_DIR=/home/$USERNAME/workspace
+
+# ======== ROS Build Stages ========
+# ${ROS_DISTRO}-ros-base
+#   -> ros-robomaker-base
+#      -> ros-robomaker-application-base
+#         -> ros-robomaker-build-stage
+#         -> ros-robomaker-app-runtime-image
+# ==================================
+
+# ==== ROS Base Image ============
+# If running in production, you may choose to build the ROS base image
+# from the source instruction-set to prevent impact from upstream changes.
+# ARG UBUNTU_DISTRO=focal
+# FROM public.ecr.aws/lts/ubuntu:${UBUNTU_DISTRO} as ros-base
+# Instruction for each ROS release maintained by OSRF can be found here: https://github.com/osrf/docker_images
+# ==================================
+
+# ==== Build Stage with AWS RoboMaker Dependencies ====
+# This stage creates the robomaker user and installs dependencies required to run applications in RoboMaker.
+# ==================================
+
+FROM public.ecr.aws/docker/library/ros:${ROS_DISTRO}-ros-base AS ros-robomaker-base
+ARG USERNAME
+ARG IMAGE_WS_DIR
+
+RUN apt-get clean
+RUN apt-get update && apt-get install -y \
+    lsb  \
+    unzip \
+    wget \
+    curl \
+    xterm \
+    python3-colcon-common-extensions \
+    devilspie \
+    xfce4-terminal
+
+RUN groupadd $USERNAME && \
+    useradd -ms /bin/bash -g $USERNAME $USERNAME && \
+    sh -c 'echo "$USERNAME ALL=(root) NOPASSWD:ALL" >> /etc/sudoers'
+
+USER $USERNAME
+WORKDIR /home/$USERNAME
+
+RUN mkdir -p $IMAGE_WS_DIR
+
+# ==== ROS Application Base ====
+# This section installs exec dependencies for your ROS application.
+# Note: Make sure you have defined 'exec' and 'build' dependencies correctly in your package.xml files.
+# ========================================
+FROM ros-robomaker-base as ros-robomaker-application-base
+ARG LOCAL_WS_DIR
+ARG IMAGE_WS_DIR
+ARG ROS_DISTRO
+ARG USERNAME
+
+WORKDIR $IMAGE_WS_DIR
+COPY --chown=$USERNAME:$USERNAME $LOCAL_WS_DIR/src $IMAGE_WS_DIR/src
+
+RUN sudo apt update && \
+    rosdep update && \
+    rosdep fix-permissions
+
+# Note: This will install all dependencies.
+# You could further optimize this by only defining the exec dependencies.
+# Then, install the build dependencies in the build image.
+RUN rosdep install --from-paths src --ignore-src -r -y
+
+# ==== ROS Workspace Build Stage ====
+# In this stage, we will install copy source files, install build dependencies and run a build.
+# ===================================
+FROM ros-robomaker-application-base AS ros-robomaker-build-stage
+LABEL build_step="${APP_NAME}Workspace_Build"
+ARG APP_NAME
+ARG LOCAL_WS_DIR
+ARG IMAGE_WS_DIR
+
+RUN  . /opt/ros/$ROS_DISTRO/setup.sh && \
+    colcon build \
+     --install-base $IMAGE_WS_DIR/$APP_NAME
+
+# ==== ROS Robot Runtime Image ====
+# In the final stage, we will copy the staged install directory to the runtime image.
+# =================================
+FROM ros-robomaker-application-base AS ros-robomaker-app-runtime-image
+ARG APP_NAME
+ARG USERNAME
+ARG GAZEBO_VERSION
+
+ENV USERNAME=$USERNAME
+ENV APP_NAME=$APP_NAME
+ENV GAZEBO_VERSION=$GAZEBO_VERSION
+
+RUN rm -rf $IMAGE_WS_DIR/src
+
+COPY --from=ros-robomaker-build-stage $IMAGE_WS_DIR/$APP_NAME $IMAGE_WS_DIR/$APP_NAME
+
+# Add the application source file to the entrypoint.
+WORKDIR /
+COPY entrypoint.sh /entrypoint.sh
+RUN sudo chmod +x /entrypoint.sh && \
+    sudo chown -R $USERNAME /entrypoint.sh && \
+    sudo chown -R $USERNAME $IMAGE_WS_DIR/$APP_NAME
+
+ENTRYPOINT ["/entrypoint.sh"]

README.md

@@ -113,34 +113,46 @@ roslaunch navigation_simulation worldforge_turtlebot_navigation.launch
 
 ## Using this sample with RoboMaker
 
-You first need to install colcon-ros-bundle. Python 3.5 or above is required.
+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.
 
 ```bash
-pip3 install colcon-ros-bundle
+pip3 install vcstool
 ```
 
-After colcon-ros-bundle is installed you need to build your robot or simulation, then you can bundle with:
+After Docker and VCS Import Tool is installed you need to build your robot or simulation docker images:
 
 ```bash
-# Bundling Robot Application
-cd robot_ws
-colcon build
-source install/local_setup.sh
-colcon bundle
-
-# Bundling Simulation Application
-cd simulation_ws
-colcon build
-source install/local_setup.sh
-colcon bundle
+# Import dependencies defined in .rosinstall to each source directory using vcs import
+vcs import robot_ws < robot_ws/.rosinstall
+vcs import simulation_ws < simulation_ws/.rosinstall
+
+# Building Robot Application Docker Image
+DOCKER_BUILDKIT=1 docker build . \
+--build-arg ROS_DISTRO=melodic \
+--build-arg LOCAL_WS_DIR=./robot_ws \
+--build-arg APP_NAME=navigation-robot-app \
+-t robomaker-navigation-robot-app
+
+# Building Simulation Application Docker Image
+DOCKER_BUILDKIT=1 docker build . \
+--build-arg GAZEBO_VERSION=gazebo-9 \
+--build-arg ROS_DISTRO=melodic \
+--build-arg LOCAL_WS_DIR=./simulation_ws \
+--build-arg APP_NAME=navigation-sim-app \
+-t robomaker-navigation-sim-app
 ```
 
-This produces the artifacts `robot_ws/bundle/output.tar` and `simulation_ws/bundle/output.tar` respectively.
+This produces the Docker Images `robomaker-navigation-robot-app` and `robomaker-navigation-sim-app` respectively which you can view by running:
+
+```bash
+# Listing your Docker Images
+docker images
+```
 
-You'll need to upload these to an s3 bucket, then you can use these files to
+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
 [create a robot application](https://docs.aws.amazon.com/robomaker/latest/dg/create-robot-application.html),
 [create a simulation application](https://docs.aws.amazon.com/robomaker/latest/dg/create-simulation-application.html),
-and [create a simulation job](https://docs.aws.amazon.com/robomaker/latest/dg/create-simulation-job.html) in RoboMaker.
+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.
 
 
 ## Generate Occupancy Map via map generation plugin

entrypoint.sh

@@ -0,0 +1,9 @@
+#!/bin/bash
+set -e
+source "/home/$USERNAME/workspace/$APP_NAME/setup.bash"
+if [[ -f "/usr/share/$GAZEBO_VERSION/setup.sh" ]]
+then
+    source /usr/share/$GAZEBO_VERSION/setup.sh
+fi
+printenv
+exec "${@:1}"