feat: add Dockerfiles for ros images

README.md

-Docker images for ros course
\ No newline at end of file
+Docker images for ros course
+
+# Setup
+
+Build the `registry.gitlab.clubelek.fr/formations/ros/docker-images/ros:user` images :
+
+`make docker-user`
+
+# Usage
+
+Linux : `./run.sh registry.gitlab.clubelek.fr/formations/ros/docker-images/ros:user`
+
+Windows : launch the vnc image `registry.gitlab.clubelek.fr/formations/ros/docker-images/ros:user-vnc`

makefile

+# TODO: universal image name from folder_name+dockerfile_name
+registry_url=registry.gitlab.clubelek.fr/formations/ros/docker-images/
+
+all: ros-base ros-desktop ros-graphic-acceleration ros-ide
+
+.PHONY: ros-base ros-desktop ros-graphic-acceleration ros-user
+
+ros-base:
+	docker build -t ${registry_url}ros:base -f ./ros-base/Dockerfile ./ros-base
+
+ros-desktop: ros-base
+	docker build -t ${registry_url}ros:desktop -f ./ros-desktop/Dockerfile ./ros-desktop
+
+ros-graphic-acceleration: ros-desktop
+	docker build -t ${registry_url}ros:graphic-acceleration -f ./ros-graphic-acceleration/Dockerfile ./ros-graphic-acceleration
+
+ros-ide: ros-graphic-acceleration
+	docker build -t ${registry_url}ros:ide -f ./ros-ide/Dockerfile ./ros-ide
+

ros-base/Dockerfile

@@ -25,7 +25,7 @@ RUN apt-get update && apt-get install -q -y \
 
 # Install bare bones ROS Installation
 RUN apt-get update && apt-get install -q -y \
-    ros-$ROS_VERSION_NAME-ros-base \
+    ros-$ROS_VERSION_NAME-ros-base python3-colcon-common-extensions \
     && rm -rf /var/lib/apt/lists/*
 
 # Add source command to root user bashrc

ros-desktop/Dockerfile

+FROM registry.gitlab.clubelek.fr/formations/ros/docker-images/ros:base
+
+# Install desktop ROS Installation
+RUN apt-get update && apt-get install -q -y \
+    ros-$ROS_VERSION_NAME-desktop \
+    && rm -rf /var/lib/apt/lists/*

ros-graphic-acceleration/10_nvidia.json

+{
+    "file_format_version" : "1.0.0",
+    "ICD" : {
+        "library_path" : "libEGL_nvidia.so.0"
+    }
+}
+

ros-graphic-acceleration/Dockerfile

+FROM registry.gitlab.clubelek.fr/formations/ros/docker-images/ros:desktop
+
+# nvidia-container-runtime
+ENV NVIDIA_VISIBLE_DEVICES \
+        ${NVIDIA_VISIBLE_DEVICES:-all}
+ENV NVIDIA_DRIVER_CAPABILITIES \
+        ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics,utility
+
+# Required for non-glvnd setups.
+ENV LD_LIBRARY_PATH /usr/lib/x86_64-linux-gnu:/usr/lib/i386-linux-gnu${LD_LIBRARY_PATH:+:${LD_LIBRARY_PATH}}
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+        git \
+        ca-certificates \
+        make \
+        automake \
+        autoconf \
+        libtool \
+        pkg-config \
+        python \
+        libxext-dev \
+        libx11-dev \
+        x11proto-gl-dev
+
+WORKDIR /opt/libglvnd
+RUN git clone --branch=0.1.1 https://github.com/NVIDIA/libglvnd.git . && \
+    ./autogen.sh && \
+    ./configure --prefix=/usr/local --libdir=/usr/local/lib/x86_64-linux-gnu && \
+    make -j"$(nproc)" install-strip && \
+    find /usr/local/lib/x86_64-linux-gnu -type f -name 'lib*.la' -delete
+
+COPY 10_nvidia.json /usr/local/share/glvnd/egl_vendor.d/10_nvidia.json
+
+RUN echo '/usr/local/lib/x86_64-linux-gnu' >> /etc/ld.so.conf.d/glvnd.conf && \
+    echo '/usr/local/lib/i386-linux-gnu' >> /etc/ld.so.conf.d/glvnd.conf && \
+    ldconfig
+
+ENV LD_LIBRARY_PATH /usr/local/lib/x86_64-linux-gnu:${LD_LIBRARY_PATH:+:${LD_LIBRARY_PATH}}
+
+RUN apt-get -y update && apt-get install -y zsh screen tree sudo ssh synaptic nano inetutils-ping git
+
+# Additional development tools
+RUN apt-get install -y x11-apps python-pip build-essential

ros-ide/Dockerfile

+FROM registry.gitlab.clubelek.fr/formations/ros/docker-images/ros:graphic-acceleration
+
+WORKDIR /opt
+
+RUN DEBIAN_FRONTEND=noninteractive apt-get update && apt-get install -q -y \
+    eclipse \
+    jupyter \
+    && wget https://download.jetbrains.com/python/pycharm-professional-2019.2.4.tar.gz \
+    && tar -xvf pycharm-professional-2019.2.4.tar.gz \
+    && echo 'export PATH=/opt/pycharm-professional-2019.2.4/bin:${PATH}' >> /root/.bashrc \
+    && rm -rf /var/lib/apt/lists/*

run.sh

+#!/usr/bin/env bash
+
+# Check args
+if [ "$#" -ne 3 ]; then
+  echo "usage: ./run.sh IMAGE_NAME CONTAINER_NAME WORKSPACE"
+  exit 1
+fi
+
+if [ ${3:0:1} == '/' ]; then
+    workspace_path=$3
+else
+    workspace_path=`pwd`/$3
+fi
+
+# Get this script's path
+pushd `dirname $0` > /dev/null
+SCRIPTPATH=`pwd`
+popd > /dev/null
+
+set -e
+
+
+XAUTH=/tmp/.docker.xauth
+if [ ! -f $XAUTH ]
+then
+    xauth_list=$(xauth nlist :0 | sed -e 's/^..../ffff/')
+    if [ ! -z "$xauth_list" ]
+    then
+        echo $xauth_list | xauth -f $XAUTH nmerge -
+    else
+        touch $XAUTH
+    fi
+    chmod a+r $XAUTH
+fi
+
+# Run the container with shared X11
+if [ -z DOCKER_NVIDIA ]; then
+    sudo docker run\
+      --privileged\
+      --rm\
+      --net=host\
+      -e SHELL\
+      --env="DISPLAY=$DISPLAY"\
+      --env="QT_X11_NO_MITSHM=1"\
+      -env="XAUTHORITY=$XAUTH"\
+      --volume="$XAUTH:$XAUTH"\
+      --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
+      --volume="${workspace_path}:${HOME}/workspace" \
+      -e DOCKER=1\
+      --name $2 \
+      --runtime=nvidia \
+      -it $1 bash
+else
+    sudo docker run\
+      --privileged\
+      --rm\
+      --net=host\
+      -e SHELL\
+      --env="DISPLAY=$DISPLAY"\
+      --env="QT_X11_NO_MITSHM=1"\
+      -env="XAUTHORITY=$XAUTH"\
+      --volume="$XAUTH:$XAUTH"\
+      --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
+      --volume="${workspace_path}:${HOME}/workspace" \
+      -e DOCKER=1\
+      --name $2 \
+      -it $1 bash
+fi