Add ScanNPlan.Dockerfile now download the package and internally built it

dockerfiles/DevenvMelodic.Dockerfile

@@ -110,27 +110,13 @@ RUN apt-get install -y \
     libglfw3-dev \
     sqlite3 
 
+RUN apt-get install -y \
+    ros-melodic-realsense2-camera
+
 # Update final image
 RUN apt-get update && apt-get -y upgrade 
 RUN apt-get clean
 
-# Install code
-# SHELL ["/bin/bash", "-o", "pipefail", "-c"]
-# RUN curl https://packages.microsoft.com/keys/microsoft.asc | gpg --dearmor > microsoft.gpg \
-#   && mv microsoft.gpg /etc/apt/trusted.gpg.d/microsoft.gpg \
-#   && sh -c 'echo "deb [arch=amd64] https://packages.microsoft.com/repos/vscode stable main" > /etc/apt/sources.list.d/vscode.list'
-# RUN apt-get update && apt-get install -y --no-install-recommends \
-#   code \
-#   && rm -rf /var/lib/apt/lists/*
-
-# RUN code --user-data-dir /root \
-#   --install-extension ms-iot.vscode-ros \
-#   --install-extension joaompinto.asciidoctor-vscode \
-#   --install-extension ms-python.python \
-#   --install-extension ms-vscode.cpptools \
-#   --install-extension ms-azuretools.vscode-docker \
-#   --install-extension twxs.cmake
-
 # Set entrypoint
 COPY ./ros_entrypoint.sh /
 RUN chmod a+x /ros_entrypoint.sh

dockerfiles/DevenvNoetic.Dockerfile

@@ -65,20 +65,27 @@ RUN sh -c "echo 'yaml https://git.code.tecnalia.com/tecnalia_robotics-public/git
 # Packages installed as dependecies of kawada_lab_aplication 
 RUN apt-get update && apt-get install -y \
     cmake \
+    python3-lxml \
+    cython \
+    ros-noetic-effort-controllers \
+    ros-noetic-joint-trajectory-controller \
+    ros-noetic-moveit-ros-move-group \
+    ros-noetic-moveit-planners-ompl \
+    ros-noetic-moveit-ros-visualization \
+    ros-noetic-moveit-fake-controller-manager \
+    ros-noetic-moveit-simple-controller-manager \
+    ros-noetic-moveit-core \
+    ros-noetic-moveit-kinematics \
+    ros-noetic-moveit-ros-planning \
+    ros-noetic-rqt-joint-trajectory-controller \
+    python3-vcstool \
+    python3-pip \
     && rm -rf /var/lib/apt/lists/*
 
 # Update final image
 RUN apt-get update && apt-get -y upgrade 
 
-# Install code
-# SHELL ["/bin/bash", "-o", "pipefail", "-c"]
-# RUN curl https://packages.microsoft.com/keys/microsoft.asc | gpg --dearmor > microsoft.gpg \
-#   && mv microsoft.gpg /etc/apt/trusted.gpg.d/microsoft.gpg \
-#   && sh -c 'echo "deb [arch=amd64] https://packages.microsoft.com/repos/vscode stable main" > /etc/apt/sources.list.d/vscode.list'
-
-# RUN apt-get update && apt-get install -y --no-install-recommends \
-#   code \
-#   && rm -rf /var/lib/apt/lists/*
+RUN python3 -m pip install -U rope
 
 # Set entrypoint
 COPY ./ros_entrypoint.sh /

dockerfiles/SherlockAPP.Dockerfile

+FROM osrf/ros:melodic-desktop-full
+ENV ROS_DISTRO melodic
+
+# Avoid warnings by switching to noninteractive
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Setup environment
+RUN apt-get update && apt-get install -y \
+    locales \
+    && sed -i '/en_US.UTF-8/s/^# //g' /etc/locale.gen && locale-gen en_US.UTF-8
+ENV LANG en_US.UTF-8
+ENV LANGUAGE en_US:en
+ENV LC_ALL en_US.UTF-8
+
+# Configure apt and install packages
+RUN apt-get -y install --no-install-recommends \
+    apt-transport-https \
+    ca-certificates \
+    software-properties-common \
+    curl \
+    gnupg-agent \
+    apt-utils dialog 2>&1 \
+    git \
+    git-lfs \
+    nano \
+    less \
+    iproute2 \ 
+    procps \
+    lsb-release \
+    curl \
+    cmake \
+    openssh-client \
+    python-catkin-tools \
+    python-osrf-pycommon \
+    ros-${ROS_DISTRO}-rosmon \
+    xterm \
+    && rm -rf /var/lib/apt/lists/*
+
+# Install docker-ce
+RUN curl -fsSL https://download.docker.com/linux/ubuntu/gpg | apt-key add -
+RUN add-apt-repository \
+    "deb [arch=amd64] https://download.docker.com/linux/ubuntu $(lsb_release -cs) stable"
+RUN apt-get update && apt-get -y install --no-install-recommends \
+    docker-ce-cli \
+    && rm -rf /var/lib/apt/lists/*
+
+# Configure system to look for debian packages in the Artifactory repository
+ARG USER_API_KEY_ARTIFACTS_TECNALIA
+RUN sh -c "echo \
+	'deb https://${USER_API_KEY_ARTIFACTS_TECNALIA}@artifact.tecnalia.com/artifactory/tecnalia-robotics-debian xenial main' \
+    >> /etc/apt/sources.list.d/tecnalia.list"
+
+# Import the key in order to be able to use the packages from the repository
+RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 7E72C5B4111A50084C63C9489E7A9B1D990CF897
+
+# Configure rosdep
+RUN sh -c "echo 'yaml https://git.code.tecnalia.com/tecnalia_robotics-public/gitlab_templates/raw/master/rosdistro/rosdep_tecnalia.yaml' \
+    >> /etc/ros/rosdep/sources.list.d/20-default.list"
+
+# Packages installed as dependecies of kawada_lab_aplication 
+RUN apt-get update && apt-get install -y \
+    ros-melodic-ros-control-boilerplate \
+    ros-melodic-ur-msgs \
+    ros-melodic-eigen-stl-containers \
+    ros-melodic-industrial-robot-simulator \
+    ros-melodic-srdfdom \
+    ros-melodic-joint-state-publisher-gui \
+    python-pyside \
+    python-lxml \
+    python-qt4 \
+    python-qt4-dev \
+    libshiboken-dev \
+    shiboken \
+    libpyside-dev \
+    libcomedi-dev \
+    libmodbus-dev \
+    libcanberra-gtk-module \
+    libcanberra-gtk0 \
+    cmake
+
+# Packages installed as dependecies of sherlock-ui 
+RUN apt-get install -y \
+    ros-melodic-rosbridge-server \
+    ros-melodic-moveit \
+    ros-melodic-hector-mapping \
+    ros-melodic-hector-gazebo-plugins \
+    ros-melodic-amcl \
+    ros-melodic-gmapping \
+    ros-melodic-twist-mux \ 
+    ros-melodic-map-server \
+    ros-melodic-joy \
+    ros-melodic-teb-local-planner \
+    ros-melodic-move-base \
+    ros-melodic-velocity-controllers \
+    ros-melodic-ackermann-msgs \
+    ros-melodic-robot-localization \
+    ros-melodic-imu-complementary-filter \
+    ros-melodic-mavros-msgs \
+    ros-melodic-joint-trajectory-controller \
+    python-sqlalchemy
+ 
+ # Packages installed as dependecies of botarobota    
+RUN apt-get install -y \
+    ros-melodic-ar-track-alvar-msgs \
+    ros-melodic-navigation
+
+RUN apt-get install -y \
+    ros-melodic-ar-track-alvar \
+    libceres-dev \
+    libglfw3-dev \
+    sqlite3 
+
+# Update final image
+RUN apt-get update && apt-get -y upgrade 
+RUN apt-get clean
+
+# Set entrypoint
+COPY ./ros_entrypoint.sh /
+RUN chmod a+x /ros_entrypoint.sh
+
+ENTRYPOINT ["/ros_entrypoint.sh"]
+CMD ["bash"]
+
+# Switch back to dialog for any ad-hoc use of apt-get
+ENV DEBIAN_FRONTEND=
\ No newline at end of file

dockerfiles/ros_entrypoint_SCP.sh

+#!/bin/bash
+
+# Setup ros environment
+source "/opt/ros/$ROS_DISTRO/setup.bash"
+source "/root/dev_ws/devel/setup.bash"
+
+#roslaunch godel_cr7ial_workspace_support cr7ial_blending.launch sim_laser:=false sim_sensor:=false use_sim:=false
+
+exec "$@"
\ No newline at end of file

dockerfiles/ScanNnplan.Dockerfile → dockerfiles/scanNplan.Dockerfile

+### FIRST LAYER TO DOWNLOAD GIT REPOS
+FROM osrf/ros:melodic-desktop-full as intermediate
+
+RUN apt-get update
+
+#################################
+# Add ssh private key
+RUN apt-get install -y ssh
+
+ARG SSH_PRIVATE_KEY
+RUN mkdir ~/.ssh/
+RUN echo "${SSH_PRIVATE_KEY}" > /root/.ssh/id_rsa
+RUN chmod 600 ~/.ssh/id_rsa
+RUN ssh-keyscan git.code.tecnalia.com >> /root/.ssh/known_hosts && chmod 644 /root/.ssh/known_hosts
+
+#Print SSH_PRIVATE_KEY (for test)
+RUN echo "${SSH_PRIVATE_KEY}"
+
+RUN apt-get install -y git
+
+# Create workspace
+RUN mkdir -p /root/dev_ws/src
+WORKDIR /root/dev_ws/src
+
+# Install python-wstools
+RUN apt-get install -y wget
+RUN wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
+RUN apt-get update
+RUN apt-get install -y python-catkin-tools
+# Clone main package
+WORKDIR /root/dev_ws/src
+RUN git clone git@git.code.tecnalia.com:tecnalia_robotics/rosin/godel_fanuc_config.git
+RUN cd godel_fanuc_config && git checkout Jon-O-laser-integration
+# Populate dependencies with rosinstall
+RUN mkdir /root/dev_ws/src/dependencies
+WORKDIR /root/dev_ws/src/dependencies
+RUN wstool init && wstool merge ../godel_fanuc_config/.rosinstall && wstool update
+
+# Preparing docker
 FROM nvidia/cuda:11.3.0-base-ubuntu16.04
  
 WORKDIR /root/ws
@@ -137,8 +176,16 @@ RUN dpkg -i zivid-tools_1.8.1+6967bc1b-1_amd64.deb
 COPY ./ros_entrypoint.sh /
 RUN chmod a+x /ros_entrypoint.sh
 
-ENTRYPOINT ["/ros_entrypoint.sh"]
-CMD ["bash"]
+# Copy workspace with dependencies created in the previous layer
+COPY --from=intermediate /root/dev_ws /root/dev_ws
+WORKDIR /root/dev_ws
+RUN catkin init && catkin config --extend /opt/ros/kinetic && catkin build
+
+# Add source ros to .bashrc
+RUN echo "#ROS\nsource /opt/ros/kinetic/setup.bash\nsource /root/dev_ws/devel/setup.bash" >> /root/.bashrc
+
+ENTRYPOINT ["/ros_entrypoint_SCP.sh"]
+#CMD ["roslaunch godel_cr7ial_workspace_support cr7ial_blending.launch sim_laser:=false sim_sensor:=false use_sim:=false"]
 
 # Switch back to dialog for any ad-hoc use of apt-get
 ENV DEBIAN_FRONTEND=
\ No newline at end of file

dotfiles/docker.bash

 # Poining to pip venv
-alias rocker="~/.venv/rocker/bin/rocker"
+#alias rocker="~/.venv/rocker/bin/rocker"
 alias ddeploy="~/.venv/ddeploy/bin/ddeploy"
 
 # docker common commands
@@ -33,7 +33,7 @@ function runmelodic() {
 }
 
 function runnoetic() {
-	rocker --home --user --x11 --ssh --git --name noetic devenv:noetic $1
+	rocker --home --user --x11 --nvidia --ssh --git --name noetic devenv:noetic $1
 }
 
 function runkinetic() {

notes/venv_cheatsheet.md

+python3 -m venv ddeploy
+git clone git@git.code.tecnalia.com:tecnalia_robotics/flexbotics/flexbotics_utils/ddeploy.git
+git checkout current-folder-fix
+source bin/activate
+pip install -e src/ddeploy
+deactivate
+./bin/ddeploy --name cosa --distro melodic -s git+ssh://github.com/ros/std_msgs.git#kinetic-devel
+
+git clone https://github.com/ros/std_msgs.git
+~/.venv/ddeploy/bin/ddeploy --name mensajes --distro melodic -s std_msgs
+
+python3 -m venv ddeploy
+
+rocker --home --user --x11 --nvidia --ssh --git osrf/ros:melodic-desktop-full bash
+
+rocker --home --user --x11 --nvidia --ssh --git ubuntu:bionic bash

notes/workspace.code-workspace

+{
+	"folders": [
+		{
+			"path": ".."
+		}
+	],
+	"settings": {}
+}
\ No newline at end of file