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ROS2 Humble turtlesim task: Dockerized sim+follower, custom msg, laun… #484

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313 changes: 38 additions & 275 deletions Dockerfile
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# multi-stage for caching
FROM ros:humble

# This variable tells future scripts that user input isn't available during the Docker build.
ENV DEBIAN_FRONTEND noninteractive

LABEL maintainer="Nova"

# Get wget first so we can get the NVIDIA keys
#RUN apt-get install -y wget

# To fix GPG key error when running apt-get update
# https://developer.nvidia.com/blog/updating-the-cuda-linux-gpg-repository-key/
###RUN apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2204/x86_64/3bf863cc.pub
###RUN apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/machine-learning/repos/ubuntu2204/x86_64/7fa2af80.pub
#RUN wget https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2204/x86_64/cuda-keyring_1.0-1_all.deb && dpkg -i cuda-keyring_1.0-1_all.deb

# Install torch
#RUN apt install -y nvidia-cuda-toolkit
#RUN pip3 install torch torchvision torchaudio --extra-index-url https://download.pytorch.org/whl/cu101

### REMOVE?? ###
### RUN pip3 install -U openmim && mim install mmcv-full && git clone https://github.com/open-mmlab/mmsegmentation.git /mmsegmentation
### WORKDIR /mmsegmentation
### RUN pip install -v -e . && mim download mmsegmentation --config pspnet_r50-d8_512x1024_40k_cityscapes --dest .

# Install MMCV https://github.com/open-mmlab/mmcv (requires PyTorch)
#RUN pip3 install -U openmim && mim install mmcv-full

# apt-get & apt installs
# Also need to upgrade the apt packages, otherwise there are incompatibilities running ros2/rviz2
RUN apt-get update && apt update && apt upgrade -y && \
# =================================
## apt-get installs ===============
apt-get install -y \
# important linux tool
wget \
# install python libraries
python3-pip \
# be able to use git inside container
git \
#
fprintd \
#
libfprint-2-2:amd64 \
#
libgl1-mesa-glx \
#
libglib2.0-0 \
#
libpam-fprintd:amd64 \
#
libsm6 \
#
libxrender-dev \
#
libxext6 \
#
ninja-build \
#
ros-humble-diagnostic-updater \
# =================================
# apt installs ====================
&& apt install -y \
#
alsa-base \
#
alsa-utils \
#
byobu \
#
espeak \
#
ffmpeg \
#
libespeak1 \
#
libsndfile1-dev \
#
minicom \
#
python3-matplotlib \
#
python3-nose \
#
python3-scipy \
#
ros-humble-ament-cmake* \
# needed for ros2_numpy package (maybe others)
ros-humble-ament-cmake-nose \
#
ros-humble-async-web-server-cpp \
#
ros-humble-cv-bridge \
#
ros-humble-image-transport \
#
ros-humble-joy-linux \
#
ros-humble-lgsvl-msgs \
# Nav2 stack - used for path planning
ros-humble-navigation2 \
#
ros-humble-pcl-conversions \
#
ros-humble-pcl-ros \
#
ros-humble-rmw-fastrtps-cpp \
#
ros-humble-robot-localization \
#
ros-humble-rosbridge-server \
#
ros-humble-ros-testing \
# rqt provides oscilliscope-style plotting of topics, etc
ros-humble-rqt* \
#
ros-humble-rviz2 \
#
ros-humble-tf-transformations \
# ROS Support for Velodyne LiDAR
ros-humble-velodyne-driver \
ros-humble-velodyne-laserscan \
ros-humble-velodyne-msgs \
ros-humble-velodyne-pointcloud \
#
ros-humble-vision-opencv \
#
software-properties-common \
# cleanup to make image smaller
&& apt clean && rm -rf /var/lib/apt/lists/*

# install cmake 3.24+
RUN wget https://github.com/Kitware/CMake/releases/download/v3.24.4/cmake-3.24.4-linux-x86_64.tar.gz
RUN tar -zxvf cmake-3.24.4-linux-x86_64.tar.gz
RUN mv cmake-3.24.4-linux-x86_64 /opt/cmake
RUN ln -s /opt/cmake/bin/cmake /usr/local/bin/cmake

# pip3 installs
RUN pip3 install --ignore-installed \
#
autopep8==2.3.1 \
#
cmake_format==0.6.11 \
#
dictor==0.1.12 \
#
ephem==4.1.5 \
# Used for the road signs classifier API call to the model.
inference-sdk==0.26.0 \
#
matplotlib \
# (possibly needs to be version 2.2)
networkx==3.3 \
# Scientific Computing - used widely
numpy==1.26.4 \
#
open3d==0.18.0 \
#
opencv-python==4.10.0.84 \
#
pathfinding==1.0.11 \
#
pep8==1.7.1 \
#
pexpect==4.9.0 \
#
psutil==5.9.0 \
#
pygame==2.6.0 \
#
pylint==3.2.7 \
#
pymap3d==2.9.1 \
#
pynmea2==1.19.0 \
#
pyproj==3.6.1 \
#
pyserial==3.5 \
#
python-can==4.4.2 \
#
py-trees==0.8.3 \
#
requests==2.28.2 \
#
scikit-image==0.24.0 \
# Scientific Computing - used widely
scipy==1.14.1 \
#
shapely==2.0.2 \
#
simple-pid==2.0.1 \
#
simple-watchdog-timer==0.1.1 \
#
six==1.16.0 \
#
tabulate==0.9.0 \
#
transforms3d==0.4.2 \
#
xmlschema==1.0.18 \
# distro \
torch \
torchvision \
# openmim \
# mmcv-full==1.6.0 \
# packaging \
# prettytable \
# python-dateutil>=2.1 \
# kiwisolver>=1.0.1 \
# pyparsing>=2.0.1 \
# cycler>=0.10 \
# wcwidth \
# six>=1.5 \
# mmcls \
easydict==1.13 \
kiss-icp==1.0.0 \
g2o-python==0.0.12 \
rosbags==0.10.4 \
ultralytics

# Install SAM2 seperately to avoid storage space errors on GitHub Actions
RUN pip3 install sam2

# Install Black for Python code formatting.
RUN pip3 install black==24.10.0

# install mmdetection3d for 3d object detection
RUN pip3 install -U openmim
RUN mim install mmengine
RUN mim install 'mmcv>=2.0.0rc4'
RUN mim install 'mmdet>=3.0.0'
RUN mim install "mmdet3d>=1.1.0"
RUN mim install "mmpose>=1.1.0"


# install loop closure package "MapClosures"
# this issue was addressed here: https://github.com/abetlen/llama-cpp-python/issues/707
# RUN python3 -m pip uninstall -y exceptiongroup
# RUN sudo apt remove python3-pathspec -y
# RUN pip3 install --no-cache-dir pathspec yamllint "exceptiongroup<=1.2.0"
# RUN git clone https://github.com/PRBonn/MapClosures.git
# WORKDIR MapClosures
# RUN cmake -B build -S cpp
# RUN cmake --build build -j8
# RUN make

WORKDIR /

# https://stackoverflow.com/questions/66669735/ubuntu-20-04-cant-find-pcl-because-of-incorrect-include-directory-after-install
RUN mkdir /lib/x86_64-linux-gnu/cmake/pcl/include && ln -s /usr/include/pcl-1.10/pcl /lib/x86_64-linux-gnu/cmake/pcl/include/pcl

# Lemon
# Library for Efficient Modeling and Optimization in Networks.
# It is a C++ template library providing efficient implementations of common data structures and algorithms
# with focus on combinatorial optimization tasks connected mainly with graphs and networks.
RUN git clone https://github.com/The-OpenROAD-Project/lemon-graph.git && cd lemon-graph \
# This specific commit is for Lemon-1.3.1. See https://github.com/The-OpenROAD-Project/lemon-graph/commits/master.
&& git checkout 62ac753 \
&& mkdir build && cd build && cmake .. && make && make install

# RUN useradd -ms /bin/bash docker
RUN usermod -a -G dialout root
RUN usermod -a -G tty root
# USER docker

ENV ROS_VERSION 2

WORKDIR /navigator
COPY ./docker/entrypoint.sh /opt/entrypoint.sh

ENTRYPOINT [ "/opt/entrypoint.sh" ]
# Base ROS 2 Humble image with desktop + turtlesim
FROM osrf/ros:humble-desktop

SHELL ["/bin/bash", "-lc"]

# System deps (+ CycloneDDS RMW)
RUN apt-get update && apt-get install -y \
python3-pip python3-tk python3-colcon-common-extensions \
python3-ament-package \
ros-humble-turtlesim x11-apps \
ros-humble-rmw-cyclonedds-cpp \
&& rm -rf /var/lib/apt/lists/*

# Pin setuptools compatible with Humble, plus wheel
RUN python3 -m pip install --no-cache-dir -U pip && \
pip3 install --no-cache-dir 'setuptools==65.5.1' 'setuptools_scm<7' wheel

# Overlay workspace (your packages)
WORKDIR /workspaces/overlay
COPY overlay_src/ ./src/

# Build overlay
RUN source /opt/ros/humble/setup.bash && \
colcon build --merge-install

# Entrypoint
COPY ros_entrypoint.sh /ros_entrypoint.sh
RUN chmod +x /ros_entrypoint.sh

# DDS + X11 defaults
ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
ENV ROS_DOMAIN_ID=23
ENV ROS_LOCALHOST_ONLY=0
ENV QT_X11_NO_MITSHM=1
ENV LIBGL_ALWAYS_SOFTWARE=1

ENTRYPOINT ["/ros_entrypoint.sh"]
CMD ["bash"]
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FROM ubuntu:22.04

ENV DEBIAN_FRONTEND=noninteractive
RUN apt-get update && apt-get install -y locales && locale-gen en_US.UTF-8
ENV LANG=en_US.UTF-8
ENV LC_ALL=en_US.UTF-8

# Base deps; colcon/vcstool/rosdep via pip
RUN apt-get update && apt-get install -y \
build-essential cmake git wget curl gnupg2 lsb-release \
python3-pip python3-venv python3-empy python3-numpy python3-tk \
libasio-dev libtinyxml2-dev libeigen3-dev libyaml-cpp-dev \
qtbase5-dev libqt5widgets5 \
libx11-6 x11-apps \
&& rm -rf /var/lib/apt/lists/*

RUN python3 -m pip install --no-cache-dir -U pip \
&& pip3 install --no-cache-dir colcon-common-extensions vcstool rosdep

# rosdep init/update
RUN rosdep init || true && rosdep update || true

# === Build ROS 2 Humble from source ===
WORKDIR /opt/ros_ws
RUN mkdir -p src
RUN wget https://raw.githubusercontent.com/ros2/ros2/humble/ros2.repos
RUN vcs import src < ros2.repos

# IMPORTANT: skip the ROS binary key "fastcdr" so the vendor pulls source
RUN apt-get update && \
rosdep install --from-paths src --ignore-src -y --rosdistro humble --skip-keys "fastcdr" && \
rm -rf /var/lib/apt/lists/*

RUN colcon build --merge-install --cmake-args -DCMAKE_BUILD_TYPE=Release

# === Overlay workspace (your packages) ===
WORKDIR /workspaces/overlay
RUN mkdir -p src
COPY overlay_src/ src/
RUN . /opt/ros_ws/install/setup.sh && \
rosdep install --from-paths src --ignore-src -y --rosdistro humble || true && \
colcon build --merge-install --cmake-args -DCMAKE_BUILD_TYPE=Release || true

# Entrypoint
COPY ros_entrypoint.sh /ros_entrypoint.sh
RUN chmod +x /ros_entrypoint.sh

# Env
ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
ENV ROS_DOMAIN_ID=23
ENV ROS_LOCALHOST_ONLY=0
ENV QT_X11_NO_MITSHM=1
ENV LIBGL_ALWAYS_SOFTWARE=1

ENTRYPOINT ["/ros_entrypoint.sh"]
CMD ["bash"]
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