adds a minimal Dockerfile (#91)

Author: mhubii

Dockerfile

@@ -1,18 +1,10 @@
-FROM nvcr.io/nvidia/pytorch:23.07-py3
+FROM nvcr.io/nvidia/pytorch:24.12-py3
 
-# Build arguments
-ARG USER_ID
-ARG GROUP_ID
-ARG USER
-
-# Create non-root user: https://code.visualstudio.com/remote/advancedcontainers/add-nonroot-user#_creating-a-nonroot-user
-RUN groupadd --gid $GROUP_ID $USER \
-    && useradd --uid $USER_ID --gid $GROUP_ID -m $USER \
-    # Add sudo support
-    && apt-get update \
+# add ubuntu to sudoers: https://code.visualstudio.com/remote/advancedcontainers/add-nonroot-user#_creating-a-nonroot-user
+RUN apt-get update \
     && apt-get install -y sudo \
-    && echo $USER ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USER \
-    && chmod 0440 /etc/sudoers.d/$USER
+    && echo ubuntu ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/ubuntu \
+    && chmod 0440 /etc/sudoers.d/ubuntu
 
 # change default shell
 SHELL ["/bin/bash", "-c"]
@@ -21,77 +13,64 @@ SHELL ["/bin/bash", "-c"]
 RUN apt-get update && \
     apt-get upgrade -y
 
-# install ROS 2 Rolling, see e.g. https://docs.ros.org/en/rolling/Installation/Ubuntu-Install-Debians.html
-ARG DEBIAN_FRONTEND=noninteractive
-ENV ROS_DISTRO=rolling
+# add ROS 2 Jazzy sources, see e.g. https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debians.html
+ENV ROS_DISTRO=jazzy
 RUN apt-get install software-properties-common -y && \
     add-apt-repository universe &&\
     apt-get update && apt-get install curl -y && \
     curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
     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 $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null && \
-    apt-get update && apt-get upgrade -y && \
-    apt-get install ros-${ROS_DISTRO}-ros-base -y && \
-    apt-get install ros-dev-tools -y && \
-    rosdep init
-
-# install some more dependencies
-# https://stackoverflow.com/questions/55313610/importerror-libgl-so-1-cannot-open-shared-object-file-no-such-file-or-directo
-RUN apt-get install -y \
-    libgl1 \
-    ros-${ROS_DISTRO}-xacro
+    apt-get update
+
+# install minimal ROS 2 utilities:
+#   - build: ament_cmake
+#   - package registry: ament_index_python
+#   - parse: xacro
+# remove ament_cmake_pytest on https://github.com/lbr-stack/lbr_fri_ros2_stack/issues/372
+RUN apt-get install python3-colcon-common-extensions \
+        ros-${ROS_DISTRO}-ament-cmake \
+        ros-${ROS_DISTRO}-ament-cmake-pytest \
+        ros-${ROS_DISTRO}-ament-index-python \
+        ros-${ROS_DISTRO}-xacro -y
 
 # clone the LBR-Stack and xarm source code for robot description only
-ENV FRI_CLIENT_VERSION=1.15
 RUN mkdir -p ros2_ws/src && \
     cd ros2_ws/src && \
     git clone https://github.com/lbr-stack/lbr_fri_ros2_stack.git -b $ROS_DISTRO && \
     git clone https://github.com/xArm-Developer/xarm_ros2.git --recursive -b $ROS_DISTRO
 
-RUN apt-get install -y \
-    ros-${ROS_DISTRO}-gazebo-ros \
-    ros-${ROS_DISTRO}-ros2-control
-
-# copy roboreg for installation (this is done as root...)
+# copy roboreg for installation (this is done as root)
 COPY . ./roboreg
 
 # change permissions for install
 RUN chmod -R 777 roboreg && \
     chmod -R 777 ros2_ws
 
-# NON ROOT USER INSTALLATION STUFF...
-USER $USER
+# non-root user installation stuff (previously for rosdep)
+USER ubuntu
 
 # install robot description files (xarm dependencies little intertwined, require some manual installation, done above)
 RUN cd ros2_ws && \
     source /opt/ros/${ROS_DISTRO}/setup.bash && \
-    colcon build --symlink-install --packages-select \
-        xarm_description \
-        xarm_controller \
-        xarm_msgs \
-        xarm_sdk \
-        xarm_api
-RUN cd ros2_ws && \
-    rosdep update && \
-    rosdep install --from-paths \
-        src/lbr_fri_ros2_stack/lbr_description \
-        -i -r -y --rosdistro=${ROS_DISTRO} && \
-    source /opt/ros/${ROS_DISTRO}/setup.bash && \
-    colcon build --symlink-install --packages-select \
-        lbr_description
+    colcon build \
+        --cmake-args -DBUILD_TESTING=0 \
+        --packages-select \
+            xarm_description \
+            lbr_description
 
 # source ROS 2 workspace
-RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /home/$USER/.bashrc && \
-    echo "source /workspace/ros2_ws/install/local_setup.bash" >> /home/$USER/.bashrc
+RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /home/ubuntu/.bashrc && \
+    echo "source /workspace/ros2_ws/install/local_setup.bash" >> /home/ubuntu/.bashrc
 
 # extend PYTHONPATH and PATH (for CLI)
-ENV PYTHONPATH="/home/$USER/.local/lib/python3.10/site-packages"
-ENV PATH="$PATH:/home/$USER/.local/bin"
+ENV PYTHONPATH="/home/ubuntu/.local/lib/python3.12/site-packages"
+ENV PATH="$PATH:/home/ubuntu/.local/bin"
 
 # install roboreg
 RUN pip3 install roboreg/
 
 # limit concurrent compilation for ninja, refer https://github.com/NVlabs/nvdiffrast/issues/201
-ENV MAX_JOBS=1
+ENV MAX_JOBS=2
 
 # run inside the roboreg folder (where data is located)
 WORKDIR /workspace/roboreg

README.md

@@ -89,11 +89,7 @@ Next:
 
     ```shell
     cd roboreg
-    docker build . \
-        --tag roboreg \
-        --build-arg USER_ID=$(id -u) \
-        --build-arg GROUP_ID=$(id -g) \
-        --build-arg USER=$USER
+    docker build . --tag roboreg
     ```
 
 3. Run container