Updated Docker Containers

Dockerfile.dev

@@ -5,6 +5,7 @@ FROM ubuntu:22.04
 ENV DEBIAN_FRONTEND=noninteractive
 ENV USER=root
 ENV DISPLAY=:1
+ENV MAKEFLAGS="-j 1"
 
 # Define the architecture-specific variable
 ARG TARGETARCH

docker/Dockerfile.dev

@@ -0,0 +1,42 @@
+# Use the ros2 desktop image
+FROM osrf/ros:humble-desktop-full
+
+WORKDIR /ws
+
+ENV MAKEFLAGS="-j 1"
+
+# Set timeszone to avoid interactive prompt
+ENV TZ=America/New_York
+RUN ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone
+
+# Run ubuntu-setup
+COPY ./util/ubuntu-setup /ubuntu-setup
+COPY ./util/ubuntu-packages.txt /util/ubuntu-packages.txt
+COPY ./util/requirements3.txt /util/requirements3.txt
+RUN /ubuntu-setup -y
+
+# Clone and build ER-Force’s simulator
+RUN git clone https://github.com/robotics-erlangen/framework.git /root/framework && \
+    cd /root/framework && \
+    mkdir build && cd build && \
+    cmake .. && \
+    make simulator-cli
+
+# Clone, build ER-Force's autoref
+RUN git clone https://github.com/robotics-erlangen/autoref.git /root/autoref && \
+    cd /root/autoref && \
+    git submodule update --init && \
+    mkdir build && cd build && \
+    cmake .. && \
+    make
+
+# Install external ref (conditionally download the correct binary based on architecture)
+RUN cd /root && \
+    if [ "$TARGETARCH" = "amd64" ]; then \
+        curl https://github.com/RoboCup-SSL/ssl-game-controller/releases/download/v3.18.0/ssl-game-controller_v3.18.0_linux_amd64 -L -O && echo "TEST" >> /test.txt; \
+    elif [ "$TARGETARCH" = "arm64" ]; then \
+        curl https://github.com/RoboCup-SSL/ssl-game-controller/releases/download/v3.18.0/ssl-game-controller_v3.18.0_linux_arm64 -L -O && echo "TEST2" >> /test2.txt; \
+    else \
+        curl https://github.com/RoboCup-SSL/ssl-game-controller/releases/download/v3.18.0/ssl-game-controller_v3.18.0_linux_arm -L -O; \
+    fi && \
+    chmod +x /root/ssl-game-controll*

docker/README.md

@@ -0,0 +1,34 @@
+# Robocup Dev Containers
+
+## Description
+
+To make developing with the RoboJackets robocup software eaiser, a development image has been created to encapsulate and standardize the development of software.  This docker image mounts the local robocup-software code to /ws and comes complete with most of the league software we use.
+
+## Running
+
+### Linux
+
+For linux, you don't need to install any dependencies and you should be able to start up the docker development container by running:
+
+```bash
+./docker/docker-build.sh && ./docker/docker-run-linux.sh
+```
+
+### MacOs
+
+For MacOs, you will need to install an X server (for example [XQuartz](https://www.xquartz.org/)) and then you can start up the docker development container by running:
+
+```bash
+./docker/docker-build.sh && ./docker/docker-run-mac.sh
+```
+
+### Windows
+For Windows, you will also need to install an X server.  You should also be using WSL with Docker Desktop.  Then you can start up the docker development container by running:
+
+```bash
+.\docker\docker-build.sh && .\docker\docker-run-windows.sh
+```
+
+## Developing
+
+Once the development container is crunning, you can connect to the container via vscode (or your preferred ide) and begin developing as normal.

docker/docker-build.ps1

@@ -0,0 +1 @@
+docker build -t robocup-dev --f $PSScriptRoot $PSScriptRoot\..\

docker/docker-build.sh

@@ -0,0 +1,5 @@
+#!/usr/bin/env bash
+
+SCRIPT_DIR=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )
+
+docker build -t robocup-dev -f ${SCRIPT_DIR}/Dockerfile.dev ${SCRIPT_DIR}/../

docker/docker-run-linux.sh

@@ -0,0 +1,14 @@
+#!/usr/bin/env bash
+
+SCRIPT_DIR=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )
+
+xhost +
+docker run -d -it \
+    --name robocup-dev \
+    -v ${SCRIPT_DIR}/..:/ws \
+    -v /dev/shm:/dev/shm \
+    -v /tmp:/tmp \
+    --net=host \
+    -e "DISPLAY=$DISPLAY" \
+    robocup-dev \
+    /bin/bash

docker/docker-run-mac.sh

@@ -0,0 +1,14 @@
+#!/usr/bin/env bash
+
+SCRIPT_DIR=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )
+
+xhost +
+docker run -d -it \
+    --name robocup-dev \
+    -v ${SCRIPT_DIR}/..:/ws \
+    -v /dev/shm:/dev/shm \
+    -v /tmp:/tmp \
+    --net=host \
+    -e "DISPLAY=host.docker.internal:0" \
+    robocup-dev \
+    /bin/bash

util/ubuntu-setup

@@ -166,3 +166,7 @@ apt-get install $ARGS $PACKAGES
 # install python3 requirements
 python3 -m pip install pip==22.1
 pip3 install -r $BASE/util/requirements3.txt
+
+echo 'export MAKEFLAGS="-j 1"' >> ~/.bashrc
+echo 'source /opt/ros/humble/setup.bash' >> ~/.bashrc
+