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Commit 80271022 authored by Montaño Sarria, Andres Felipe's avatar Montaño Sarria, Andres Felipe
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Add plugins installation option

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dockerfiles/devenv.Dockerfile
+ 53
− 32
View file @ 80271022
......@@ -37,6 +37,7 @@ RUN apt-get update && \
# ccmake
cmake-curses-gui \
direnv \
gawk \
gdb \
git \
git-lfs \
......@@ -54,26 +55,6 @@ RUN if [ "$EXT_SHELL" = "zsh" ]; \
apt-get -y install zsh; \
fi
# Install extra libs from .deb files
WORKDIR /tmp/srcs/
COPY /extra_libs/* ./
# Enviroment tools based on ubuntu version
RUN if [ -f "common_libs.txt" ]; \
then \
grep -v '^#' common_libs.txt | xargs dpkg -i ;\
fi
# Extra libs, e.g. vtk-7.1_20221201-1_amd64.deb
RUN if [ -f "${ROS_DISTRO}_libs.txt" ]; \
then \
grep -v '^#' ${ROS_DISTRO}_libs.txt | xargs dpkg -i ;\
fi
RUN rm -rf *
RUN apt-get --reinstall install -y libnotify-bin notify-osd
# Configure system to look for debian packages in the Artifactory repository
COPY auth.conf /etc/apt/auth.conf.d/tecnalia.conf
......@@ -106,6 +87,8 @@ RUN if [ "${ROS_DISTRO}" = "melodic" ]; \
python-osrf-pycommon\
python-vcstool; \
else\
if [ "${ROS_DISTRO}" = "noetic" ]; \
then \
apt-get update && \
apt-get -y install \
ipython3 \
......@@ -117,6 +100,7 @@ RUN if [ "${ROS_DISTRO}" = "melodic" ]; \
python3-pip \
# clang
clangd liblldb-dev libllvm-ocaml-dev python3-clang; \
fi \
fi
# Install ROS 1 tools
......@@ -149,8 +133,45 @@ RUN if [ -f "${ROS_DISTRO}_requirements.txt" ]; \
RUN rm -rf *
# Install extra libs from .deb files
WORKDIR /tmp/srcs/
COPY /extra_libs/* ./
# Enviroment tools based on ubuntu version
RUN if [ -f "common_libs.txt" ]; \
then \
grep -v '^#' common_libs.txt | xargs dpkg -i ;\
fi
# Extra libs, e.g. vtk-7.1_20221201-1_amd64.deb
RUN if [ -f "${ROS_DISTRO}_libs.txt" ]; \
then \
grep -v '^#' ${ROS_DISTRO}_libs.txt | xargs dpkg -i ;\
fi
# Read the plugin list and copy the plugins to their destinations
RUN if [ -f "${ROS_DISTRO}_plugins.txt" ]; \
then \
while IFS= read -r line; \
do \
echo "Processing line: $line"; \
if [[ "$line" == \#* ]]; \
then \
echo "Skipping ${line}"; \
else \
plugin_name=$(echo "$line" | awk '{print $1}'); \
destination=$(echo "$line" | awk '{print $2}'); \
echo "Coping ${plugin_name} into ${destination}"; \
mkdir -p "$destination" && cp -r "$plugin_name" "$destination/"; \
fi; \
done < ${ROS_DISTRO}_plugins.txt ; \
fi
RUN rm -rf *
RUN apt-get --reinstall install -y libnotify-bin notify-osd
# Update this date to re-run the image final update
LABEL image.date=23-10-2023
LABEL image.date=25-10-2023
# Update final image
RUN apt-get update \
......
dotfiles/docker.sh
+ 73
− 3
View file @ 80271022
......@@ -9,11 +9,22 @@ alias drmi="docker rmi"
alias dsp="docker system prune --all"
alias dimp="docker image prune"
# Determine shell extension
if [ -z $SHELL ]; then
echo "SHELL not set"
export SHELL=/usr/bin/zsh
ext=$(basename ${SHELL});
else
ext=$(basename ${SHELL});
fi
# Build docker image
# usage: dockbuild {noetic, melodic}
function dockbuild(){
if [ $# -lt 1 ]; then
echo "Usage: dockbuild <ROS_DISTRO> [build_args]"
echo "ROS_DISTRO:"
echo " melodic, noetic, humble, etc."
echo "build_args:"
echo " EXT_SHELL - zsh (default) or bash"
return 1
......@@ -39,7 +50,23 @@ function dockbuild(){
# ToDo Add extra parameters by arg
# To share docker --volume /var/run/docker.sock:/var/run/docker.sock:ro
# To share video (usb-cam) --volume /dev/video0:/dev/video0
# To share pcan --volume /dev/pcanusb32:/dev/pcanusb32
function dockrun() {
if [ $# -lt 1 ]; then
echo "Usage: dockrun <ROS_DISTRO> [posicional options]"
echo "ROS_DISTRO:"
echo " melodic, noetic, humble, etc."
echo "Options:"
echo " Passing 1 option --> path_to_workspace. E.g., dockrun humble mairon_ws"
echo " Passing 2 options --> path_to_workspace + extra_config. E.g., dockrun humble mairon_ws video"
echo " extra_config: pcan, video, pcan_video"
echo "Examples:"
echo "dockrun humble mairon_ws"
echo "dockrun noetic neurondones_ws pcan_video"
echo "dockrun melodic odinrobot_ws video"
return 1
fi
# Check if the image exist
if [[ "$(docker images -q devenv:$1 2> /dev/null)" == "" ]]; then
# build the image
......@@ -48,12 +75,55 @@ function dockrun() {
# Check if the container exist
if [[ $(docker ps -aq -f name=$1) ]]; then
# Attach to conayiner
# Attach to container
if [ $# -lt 2 ]; then
docker exec -it $1 bash -c "cd ~/ros/$1 && $ext"
else
docker exec -it $1 bash -c "cd ~/ros/$1/$2 && $ext"
fi
else
# Launch container
cd ~/ros/$1/$2;
rocker --home --ssh --git --user --privileged --nvidia --x11 --network host --name $1 devenv:$1 $3
if [ $# -lt 4 ]; then
rocker --home --ssh --git --user --privileged --nvidia --x11 --network host --name $1 devenv:$1
else
if [ $3 = "pcan" ]; then
rocker --home --ssh --git --user --privileged --nvidia --x11 --volume /dev/pcanusb32:/dev/pcanusb32 --network host --name $1 devenv:$1
else
fi
fi
fi
}
function dockexec() {
if [ $# -lt 1 ]; then
echo "Usage: dockexec <ROS_DISTRO> [workspace] [command]"
echo "ROS_DISTRO:"
echo " melodic, noetic, humble, etc."
echo "Example:"
echo "dockexec noetic neurondones_ws roscore"
return 1
fi
# Check if the image exist
if [[ "$(docker images -q devenv:$1 2> /dev/null)" == "" ]]; then
# build the image
echo "Docker image for ${1} does not exist"
return 1
fi
# Check if the container exist
if [[ $(docker ps -aq -f name=$1) ]]; then
# Attach to container
if [ $# -lt 2 ]; then
docker exec -it $1 bash -c "cd ~/ros/$1 && $ext"
else
docker exec -it $1 bash -c "cd ~/ros/$1/$2 && $ext"
fi
else
# Launch container
echo "Container for ${1} does not exist"
fi
}
......
dotfiles/ros.sh
+ 1
− 1
View file @ 80271022
......@@ -88,7 +88,7 @@ function cbclean(){
then
roshome && rm -rf build devel install && catkin build --summarize --cmake-args -DCMAKE_BUILD_TYPE=Release
else
rm -rf build devel install && cb
rm -rf build log install && cb "$@"
fi
}
......
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