From d6a32fcc8f53449d5b7eea01abfeae5b0fd1b056 Mon Sep 17 00:00:00 2001
From: Andres Montano <andres.montano@tecnalia.com>
Date: Mon, 21 Nov 2022 13:04:06 +0100
Subject: [PATCH] Update dockerfiles and dotfiles

---
 dockerfiles/DevenvNoetic.Dockerfile           | 146 -----------
 .../kawada_lab_application.ddeploy.yaml       |   0
 .../{ => ddeploy}/robouton_core.ddeploy.yaml  |   0
 ...{DevenvFoxy.Dockerfile => foxy.Dockerfile} |   0
 ...vMelodic.Dockerfile => melodic.Dockerfile} | 241 ++++++++----------
 dockerfiles/noetic.Dockerfile                 | 142 +++++++++++
 .../DevenvMelodicFlexbotics.Dockerfile        |   0
 dockerfiles/{ => other}/DevenvPCL.Dockerfile  |   0
 dockerfiles/{ => other}/Robouton.Dockerfile   |   0
 dockerfiles/{ => other}/ScanNPlan.Dockerfile  |   0
 .../{ => other}/SherlockAPP.Dockerfile        |   0
 .../{ => other}/Sherlock_demo.Dockerfile      |   0
 .../kinetic.Dockerfile}                       |   0
 .../{ => other}/snp_workshop.Dockerfile       |   0
 dockerfiles/{ => other}/ssh.Dockerfile        |   0
 dockerfiles/{ => other}/urko.Dockerfile       |   0
 dotfiles/docker.bash                          |  95 +++----
 dotfiles/ros.bash                             |  47 ++--
 notes/ci_local_test.md                        |  76 +++++-
 19 files changed, 388 insertions(+), 359 deletions(-)
 delete mode 100644 dockerfiles/DevenvNoetic.Dockerfile
 rename dockerfiles/{ => ddeploy}/kawada_lab_application.ddeploy.yaml (100%)
 rename dockerfiles/{ => ddeploy}/robouton_core.ddeploy.yaml (100%)
 rename dockerfiles/{DevenvFoxy.Dockerfile => foxy.Dockerfile} (100%)
 rename dockerfiles/{DevenvMelodic.Dockerfile => melodic.Dockerfile} (54%)
 create mode 100644 dockerfiles/noetic.Dockerfile
 rename dockerfiles/{ => other}/DevenvMelodicFlexbotics.Dockerfile (100%)
 rename dockerfiles/{ => other}/DevenvPCL.Dockerfile (100%)
 rename dockerfiles/{ => other}/Robouton.Dockerfile (100%)
 rename dockerfiles/{ => other}/ScanNPlan.Dockerfile (100%)
 rename dockerfiles/{ => other}/SherlockAPP.Dockerfile (100%)
 rename dockerfiles/{ => other}/Sherlock_demo.Dockerfile (100%)
 rename dockerfiles/{DevenvKinetic.Dockerfile => other/kinetic.Dockerfile} (100%)
 rename dockerfiles/{ => other}/snp_workshop.Dockerfile (100%)
 rename dockerfiles/{ => other}/ssh.Dockerfile (100%)
 rename dockerfiles/{ => other}/urko.Dockerfile (100%)

diff --git a/dockerfiles/DevenvNoetic.Dockerfile b/dockerfiles/DevenvNoetic.Dockerfile
deleted file mode 100644
index 506951f..0000000
--- a/dockerfiles/DevenvNoetic.Dockerfile
+++ /dev/null
@@ -1,146 +0,0 @@
-FROM osrf/ros:noetic-desktop-full
-ENV ROS_DISTRO noetic
-
-# 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 \
-    curl \
-    gnupg-agent \
-    software-properties-common \
-    apt-utils dialog 2>&1 \
-    #
-    # Verify if git, process tools, lsb-release (common in install instructions for CLIs) are installed
-    # Install the https transport support package for The Artifactory debian repository
-    git \
-    git-lfs \
-    nano \
-    iproute2 \
-    procps \
-    lsb-release \
-    curl \
-    cmake \
-    openssh-client \
-    ros-noetic-catkin \
-    python3-catkin-tools \
-    python3-osrf-pycommon \
-    xterm \
-    terminator \
-    zsh \
-    # && rosdep init || true \
-    && 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
-RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -
-
-# 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"
-
-RUN apt-get update && apt-get install -y \
-    wget \
-    udev
-
-RUN wget https://www.zivid.com/hubfs/softwarefiles/releases/1.8.3+96f35dc6-1/u18/zivid-telicam-driver_3.0.1.1-1_amd64.deb \
-    https://www.zivid.com/hubfs/softwarefiles/releases/1.8.3+96f35dc6-1/u18/zivid_1.8.3+96f35dc6-1_amd64.deb \
-    https://www.zivid.com/hubfs/softwarefiles/releases/1.8.3+96f35dc6-1/u18/zivid-studio_1.8.3+96f35dc6-1_amd64.deb \
-    https://www.zivid.com/hubfs/softwarefiles/releases/1.8.3+96f35dc6-1/u18/zivid-tools_1.8.3+96f35dc6-1_amd64.deb
-
-RUN dpkg -i zivid*.deb
-
-# Update final image
-RUN apt-get update \
-    && apt-get -y upgrade \
-    && apt-get clean \
-    && rm -rf /var/lib/apt/lists/*
-
-RUN apt-get update && apt-get install -y \
-    direnv
-
-# Scan and Plan dependencies
-RUN apt-get update && apt-get install -y \
-    ros-noetic-industrial-robot-simulator \
-    ros-noetic-moveit-fake-controller-manager \
-    ros-noetic-moveit-planners-ompl \
-    ros-noetic-moveit-ros-move-group \
-    ros-noetic-moveit-ros-visualization \
-    ros-noetic-moveit-ros-warehouse \
-    ros-noetic-moveit-simple-controller-manager \
-    ros-noetic-warehouse-ros \
-    ros-noetic-industrial-robot-client \
-    python-numpy \
-    ros-noetic-simple-message \
-    liblapack-dev \
-    ros-noetic-moveit-core \
-    ros-noetic-trac-ik-kinematics-plugin \
-    ros-noetic-urdfdom-py \
-    ros-noetic-srdfdom \
-    ros-noetic-pcl-ros \
-    ros-noetic-moveit-kinematics \
-    ros-noetic-pcl-msgs \
-    ros-noetic-moveit-ros-planning-interface \
-    ros-noetic-swri-profiler \
-    libqd-dev \
-    libpcl-dev \
-    libpcl-apps1.10 \
-    libpcl-common1.10 \
-    libpcl-features1.10 \
-    libpcl-filters1.10 \
-    libpcl-io1.10 \
-    libpcl-kdtree1.10 \
-    libpcl-keypoints1.10 \
-    libpcl-ml1.10 \
-    libpcl-octree1.10 \
-    libpcl-outofcore1.10 \
-    libpcl-people1.10 \
-    libpcl-recognition1.10 \
-    libpcl-registration1.10 \
-    libpcl-sample-consensus1.10 \
-    libpcl-search1.10 \
-    libpcl-segmentation1.10 \
-    libpcl-stereo1.10 \
-    libpcl-surface1.10 \
-    libpcl-tracking1.10 \
-    libpcl-visualization1.10 \
-    ros-noetic-catkin-virtualenv \
-    python3-zmq \
-    ros-noetic-moveit-ros-planning \
-    ros-noetic-moveit-setup-assistant \
-    ros-noetic-ompl \
-    ros-noetic-moveit-ros-manipulation
-
-# Set entrypoint
-COPY ./ros_entrypoint.sh /
-RUN chmod a+x /ros_entrypoint.sh
-
-ENTRYPOINT ["/ros_entrypoint.sh"]
-CMD ["zsh"]
-
-# Switch back to dialog for any ad-hoc use of apt-get
-ENV DEBIAN_FRONTEND=
\ No newline at end of file
diff --git a/dockerfiles/kawada_lab_application.ddeploy.yaml b/dockerfiles/ddeploy/kawada_lab_application.ddeploy.yaml
similarity index 100%
rename from dockerfiles/kawada_lab_application.ddeploy.yaml
rename to dockerfiles/ddeploy/kawada_lab_application.ddeploy.yaml
diff --git a/dockerfiles/robouton_core.ddeploy.yaml b/dockerfiles/ddeploy/robouton_core.ddeploy.yaml
similarity index 100%
rename from dockerfiles/robouton_core.ddeploy.yaml
rename to dockerfiles/ddeploy/robouton_core.ddeploy.yaml
diff --git a/dockerfiles/DevenvFoxy.Dockerfile b/dockerfiles/foxy.Dockerfile
similarity index 100%
rename from dockerfiles/DevenvFoxy.Dockerfile
rename to dockerfiles/foxy.Dockerfile
diff --git a/dockerfiles/DevenvMelodic.Dockerfile b/dockerfiles/melodic.Dockerfile
similarity index 54%
rename from dockerfiles/DevenvMelodic.Dockerfile
rename to dockerfiles/melodic.Dockerfile
index 073f5ab..95d5199 100644
--- a/dockerfiles/DevenvMelodic.Dockerfile
+++ b/dockerfiles/melodic.Dockerfile
@@ -1,7 +1,5 @@
 FROM osrf/ros:melodic-desktop-full
-
 ENV ROS_DISTRO melodic
-ENV RUNNING_IN_DOCKER true
 
 # Avoid warnings by switching to noninteractive
 ENV DEBIAN_FRONTEND=noninteractive
@@ -15,33 +13,30 @@ 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 \
+RUN apt-get update && apt-get -y install --no-install-recommends \
     apt-transport-https \
     ca-certificates \
-    software-properties-common \
     curl \
     gnupg-agent \
+    software-properties-common \
     apt-utils dialog 2>&1 \
+    # Verify if git, process tools, lsb-release (common in install instructions for CLIs) are installed
+    # Install the https transport support package for The Artifactory debian repository
     git \
     git-lfs \
     nano \
-    less \
-    iproute2 \
-    procps \
-    lsb-release \
-    curl \
-    cmake \
-    openssh-client \
-    python-pip \
-    python-catkin-tools \
-    python-osrf-pycommon \
-    libclang-dev \
-    cppcheck \
-    lcov \
-    iwyu \
+    clang-format \
+    direnv \
     xterm \
+    terminator \
     zsh \
-    && rm -rf /var/lib/apt/lists/*
+    #
+    ros-${ROS_DISTRO}-catkin \
+    ros-${ROS_DISTRO}-rosmon \
+    python-catkin-tools \
+    python-numpy \
+    python-osrf-pycommon \
+    ipython
 
 # Install docker-ce
 #RUN curl -fsSL https://download.docker.com/linux/ubuntu/gpg | apt-key add -
@@ -64,109 +59,92 @@ RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 7E72C5B411
 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"
 
+# Ros WS dependencies
 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 \
-    ros-${ROS_DISTRO}-rosmon \
-    python-pyside \
+    ros-${ROS_DISTRO}-abb-driver \
+    ros-${ROS_DISTRO}-ackermann-msgs \
+    ros-${ROS_DISTRO}-amcl \
+    ros-${ROS_DISTRO}-ar-track-alvar \
+    ros-${ROS_DISTRO}-ar-track-alvar-msgs \
+    ros-${ROS_DISTRO}-catkin-virtualenv \
+    ros-${ROS_DISTRO}-effort-controllers \
+    ros-${ROS_DISTRO}-eigen-conversions \
+    ros-${ROS_DISTRO}-eigen-stl-containers \
+    ros-${ROS_DISTRO}-executive-smach-visualization \
+    ros-${ROS_DISTRO}-force-torque-sensor-controller \
+    ros-${ROS_DISTRO}-gmapping \
+    ros-${ROS_DISTRO}-hector-gazebo-plugins \
+    ros-${ROS_DISTRO}-hector-mapping \
+    ros-${ROS_DISTRO}-image-view \
+    ros-${ROS_DISTRO}-imu-complementary-filter \
+    ros-${ROS_DISTRO}-imu-tools \
+    ros-${ROS_DISTRO}-industrial-core \
+    ros-${ROS_DISTRO}-industrial-robot-simulator \
+    ros-${ROS_DISTRO}-interactive-marker-twist-server \
+    ros-${ROS_DISTRO}-joint-state-publisher-gui \
+    ros-${ROS_DISTRO}-joint-trajectory-controller \
+    ros-${ROS_DISTRO}-joy \
+    ros-${ROS_DISTRO}-lms1xx \
+    ros-${ROS_DISTRO}-map-server \
+    ros-${ROS_DISTRO}-mavros-msgs \
+    ros-${ROS_DISTRO}-move-base \
+    ros-${ROS_DISTRO}-moveit \
+    ros-${ROS_DISTRO}-moveit-opw-kinematics-plugin \
+    ros-${ROS_DISTRO}-moveit-resources \
+    ros-${ROS_DISTRO}-moveit-visual-tools \
+    ros-${ROS_DISTRO}-navigation \
+    ros-${ROS_DISTRO}-realsense2-camera \
+    ros-${ROS_DISTRO}-robot-localization \
+    ros-${ROS_DISTRO}-ros-control \
+    ros-${ROS_DISTRO}-ros-control-boilerplate \
+    ros-${ROS_DISTRO}-ros-controllers \
+    ros-${ROS_DISTRO}-rosbridge-server \
+    ros-${ROS_DISTRO}-rqt-controller-manager \
+    ros-${ROS_DISTRO}-rqt-joint-trajectory-controller \
+    ros-${ROS_DISTRO}-rviz-visual-tools \
+    ros-${ROS_DISTRO}-serial \
+    ros-${ROS_DISTRO}-spacenav-node \
+    ros-${ROS_DISTRO}-srdfdom \
+    ros-${ROS_DISTRO}-swri-profiler \
+    ros-${ROS_DISTRO}-teb-local-planner \
+    ros-${ROS_DISTRO}-trac-ik-kinematics-plugin \
+    ros-${ROS_DISTRO}-twist-mux \
+    ros-${ROS_DISTRO}-ur-msgs \
+    ros-${ROS_DISTRO}-usb-cam \
+    ros-${ROS_DISTRO}-velocity-controllers \
+    #
+    python-funcsigs \
     python-lxml \
+    python-mock \
+    python-pyside \
     python-qt4 \
     python-qt4-dev \
-    libshiboken-dev \
-    shiboken \
-    libpyside-dev \
-    libcomedi-dev \
-    libmodbus-dev \
-    libcanberra-gtk-module \
-    libcanberra-gtk0 \
-    cmake
-
-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 \
-    ros-melodic-executive-smach-visualization \
-    ros-melodic-catkin-virtualenv \
-    ros-melodic-rviz-visual-tools \
-    python-sqlalchemy \
     python-zmq \
-    ros-melodic-trac-ik-kinematics-plugin \
-    python3-catkin-pkg-modules
-
-RUN apt-get install -y \
-    ros-melodic-ar-track-alvar-msgs \
-    ros-melodic-navigation
-
-RUN apt-get install -y \
-    ros-melodic-ar-track-alvar \
-    ros-melodic-usb-cam \
+    #
+    libbluetooth-dev \
+    libcanberra-gtk-module  \
+    libcanberra-gtk0 \
+    libcanberra-gtk3-module \
     libceres-dev \
+    libcomedi-dev \
+    libcwiid-dev \
+    libdouble-conversion-dev \
     libglfw3-dev \
-    sqlite3
-
-RUN apt-get install -y \
-    ros-melodic-realsense2-camera \
-    ros-melodic-eigen-conversions \
-    ros-melodic-abb-driver \
+    libmodbus-dev \
+    libpyside-dev \
     libqd-dev \
-    ros-melodic-swri-profiler \
-    ros-melodic-force-torque-sensor-controller \
-    ros-melodic-effort-controllers
-
-RUN apt-get install -y \
-    libdouble-conversion-dev
-
-RUN apt-get update \
-    && apt-get upgrade ca-certificates -y
-
-RUN curl -fsSLk https://deb.nodesource.com/setup_14.x | bash - \
-    && apt-get install -y -qq nodejs \
-    && npm install -g yarn
-
-RUN apt-get install -y \
+    libshiboken-dev \
+    libspnav-dev \
+    #
     gir1.2-gtk-3.0 \
-    python3-gi \
-    python3-gi-cairo \
-    python3-numpy \
-    python3-pip \
     graphviz \
-    xdot \
-    ros-melodic-image-view \
-    libcanberra-gtk-module  \
-    libcanberra-gtk3-module \
-    wget \
-    terminator \
-    direnv \
-    libspnav-dev \
-    libbluetooth-dev \
-    libcwiid-dev \
-    ros-melodic-joy
-
-RUN apt-get update && apt-get install -y \
-    #spacenavd \
-    #ros-melodic-spacenav-node \
-    ros-melodic-ros-control \
-    ros-melodic-rqt-controller-manager \
-    systemd
+    shiboken \
+    spacenavd \
+    sqlite3 \
+    systemd \
+    xdot
 
+# Install Zivid packages
 #RUN wget https://www.zivid.com/hubfs/softwarefiles/releases/1.8.3+96f35dc6-1/u18/zivid-telicam-driver_3.0.1.1-1_amd64.deb \
 #         https://www.zivid.com/hubfs/softwarefiles/releases/1.8.3+96f35dc6-1/u18/zivid_1.8.3+96f35dc6-1_amd64.deb \
 #         https://www.zivid.com/hubfs/softwarefiles/releases/1.8.3+96f35dc6-1/u18/zivid-studio_1.8.3+96f35dc6-1_amd64.deb \
@@ -174,38 +152,28 @@ RUN apt-get update && apt-get install -y \
 
 #RUN dpkg -i zivid*.deb
 
+# Fix errors
 #RUN mv /usr/include/flann/ext/lz4.h /usr/include/flann/ext/lz4.h.bak
 #RUN mv /usr/include/flann/ext/lz4hc.h /usr/include/flann/ext/lz4.h.bak
-
 #RUN ln -s /usr/include/lz4.h /usr/include/flann/ext/lz4.h
 #RUN ln -s /usr/include/lz4hc.h /usr/include/flann/ext/lz4hc.h
 
+# Python 3
 RUN apt-get update && apt-get install -y \
-    ros-melodic-moveit-resources \
-    ros-melodic-moveit-visual-tools \
-    ros-melodic-moveit-opw-kinematics-plugin \
-    ros-melodic-rqt-joint-trajectory-controller \
-    ros-melodic-ros-controllers \
-    python-mock \
-    python-funcsigs \
-    clang-format
-
-RUN apt-get update && apt-get install -y \
-    ros-melodic-imu-tools \
-    ros-melodic-interactive-marker-twist-server \
-    ros-melodic-industrial-core \
-    ros-melodic-lms1xx \
-    ros-melodic-serial \
-    ros-melodic-spacenav-node \
-    spacenavd
-
-RUN pip3 install --upgrade pip
-
-RUN apt-get update && apt-get install -y \
-    ipython3 \
-    ipython
+    python3-catkin-pkg-modules \
+    python3-gi \
+    python3-gi-cairo \
+    python3-numpy \
+    python3-pip \
+    ipython3
+RUN pip3 install sqlite-utils
 
-# RUN pip3 install sqlite-utils
+# Install node for UIs
+# RUN curl -fsSLk https://deb.nodesource.com/setup_14.x | bash - \
+#     && apt-get install -y -qq nodejs \
+#     && npm install -g yarn
+RUN curl -sL https://deb.nodesource.com/setup_14.x | sudo -E bash \
+    && apt-get install -y nodejs && npm -g install yarn
 
 # Update final image
 RUN apt-get update && apt-get -y upgrade && apt-get -y autoremove
@@ -218,6 +186,7 @@ RUN chmod a+x /ros_entrypoint.sh
 ENTRYPOINT ["/ros_entrypoint.sh"]
 CMD ["zsh"]
 ENV SHELL /usr/bin/zsh
+ENV RUNNING_IN_DOCKER true
 
 # Switch back to dialog for any ad-hoc use of apt-get
 ENV DEBIAN_FRONTEND=
diff --git a/dockerfiles/noetic.Dockerfile b/dockerfiles/noetic.Dockerfile
new file mode 100644
index 0000000..3e98908
--- /dev/null
+++ b/dockerfiles/noetic.Dockerfile
@@ -0,0 +1,142 @@
+FROM osrf/ros:noetic-desktop-full
+ENV ROS_DISTRO noetic
+
+# 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 update && apt-get -y install --no-install-recommends \
+    apt-transport-https \
+    ca-certificates \
+    curl \
+    gnupg-agent \
+    software-properties-common \
+    apt-utils dialog 2>&1 \
+    # Verify if git, process tools, lsb-release (common in install instructions for CLIs) are installed
+    # Install the https transport support package for The Artifactory debian repository
+    git \
+    git-lfs \
+    nano \
+    clang-format \
+    direnv \
+    xterm \
+    terminator \
+    zsh \
+    #
+    ros-${ROS_DISTRO}-catkin \
+    ros-${ROS_DISTRO}-rosmon \
+    python3-catkin-tools \
+    python3-osrf-pycommon \
+    python3-numpy \
+    python3-click \
+    python-is-python3 \
+    ipython3
+
+# Configure system to look for debian packages in the Artifactory repository
+ARG USER_API_KEY_ARTIFACTS_TECNALIA
+RUN sh -c "echo \
+    'deb https://${USER_API_KEY_ARTIFACTS_TECNALIA}@artifact.tecnalia.com/artifactory/tecnalia-robotics-debian xenial main' \
+    >> /etc/apt/sources.list.d/tecnalia.list"
+
+# Import the key in order to be able to use the packages from the repository
+RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 7E72C5B4111A50084C63C9489E7A9B1D990CF897
+RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -
+
+# Configure rosdep
+RUN sh -c "echo 'yaml https://git.code.tecnalia.com/tecnalia_robotics-public/gitlab_templates/raw/master/rosdistro/rosdep_tecnalia.yaml' \
+    >> /etc/ros/rosdep/sources.list.d/20-default.list"
+
+# Ros WS dependencies
+RUN apt-get update && apt-get install -y \
+    # Remodel app
+    libceres-dev \
+    libcomedi-dev \
+    libglfw3-dev \
+    libmodbus-dev \
+    ros-${ROS_DISTRO}-ackermann-msgs \
+    ros-${ROS_DISTRO}-amcl \
+    ros-${ROS_DISTRO}-effort-controllers \
+    ros-${ROS_DISTRO}-force-torque-sensor-controller \
+    ros-${ROS_DISTRO}-gmapping \
+    ros-${ROS_DISTRO}-hector-gazebo-plugins \
+    ros-${ROS_DISTRO}-hector-mapping \
+    ros-${ROS_DISTRO}-imu-complementary-filter \
+    ros-${ROS_DISTRO}-industrial-robot-simulator \
+    ros-${ROS_DISTRO}-joint-trajectory-controller \
+    ros-${ROS_DISTRO}-joy \
+    ros-${ROS_DISTRO}-map-server \
+    ros-${ROS_DISTRO}-mavros-msgs \
+    ros-${ROS_DISTRO}-move-base \
+    ros-${ROS_DISTRO}-moveit-commander \
+    ros-${ROS_DISTRO}-moveit-fake-controller-manager \
+    ros-${ROS_DISTRO}-moveit-planners-ompl \
+    ros-${ROS_DISTRO}-moveit-resources \
+    ros-${ROS_DISTRO}-moveit-ros-move-group \
+    ros-${ROS_DISTRO}-moveit-ros-planning-interface \
+    ros-${ROS_DISTRO}-moveit-ros-visualization \
+    ros-${ROS_DISTRO}-moveit-ros-warehouse \
+    ros-${ROS_DISTRO}-moveit-setup-assistant\
+    ros-${ROS_DISTRO}-moveit-simple-controller-manager \
+    ros-${ROS_DISTRO}-moveit-visual-tools \
+    ros-${ROS_DISTRO}-realsense2-camera \
+    ros-${ROS_DISTRO}-robot-localization \
+    ros-${ROS_DISTRO}-ros-control-boilerplate \
+    ros-${ROS_DISTRO}-rosbridge-server \
+    ros-${ROS_DISTRO}-spacenav-node \
+    ros-${ROS_DISTRO}-teb-local-planner \
+    ros-${ROS_DISTRO}-twist-mux \
+    ros-${ROS_DISTRO}-ur-msgs \
+    ros-${ROS_DISTRO}-velocity-controllers \
+    # Smart3D
+    socat \
+    ros-${ROS_DISTRO}-cartesian-trajectory-controller \
+    ros-${ROS_DISTRO}-industrial-robot-status-controller \
+    ros-${ROS_DISTRO}-industrial-robot-status-interface \
+    ros-${ROS_DISTRO}-moveit-ros-benchmarks \
+    ros-${ROS_DISTRO}-pass-through-controllers \
+    ros-${ROS_DISTRO}-scaled-joint-trajectory-controller \
+    ros-${ROS_DISTRO}-speed-scaling-interface \
+    ros-${ROS_DISTRO}-speed-scaling-state-controller \
+    ros-${ROS_DISTRO}-trac-ik-kinematics-plugin \
+    ros-${ROS_DISTRO}-twist-controller \
+    ros-${ROS_DISTRO}-ur-client-library \
+    ros-${ROS_DISTRO}-warehouse-ros-mongo \
+    # Odin_robot
+    ros-${ROS_DISTRO}-navigation \
+    ros-${ROS_DISTRO}-ros-control \
+    ros-${ROS_DISTRO}-ros-controllers
+
+# Install pip3 and packages
+RUN apt-get install -y \
+    python3-pip \
+    && pip install sqlite_utils
+
+# Install node for UIs
+RUN curl -sL https://deb.nodesource.com/setup_14.x | sudo -E bash \
+    && apt-get install -y nodejs && npm -g install yarn
+
+# Update final image
+RUN apt-get update \
+    && apt-get -y upgrade \
+    && apt-get clean \
+    && rm -rf /var/lib/apt/lists/*
+
+# Set entrypoint
+COPY ./ros_entrypoint.sh /
+RUN chmod a+x /ros_entrypoint.sh
+
+ENTRYPOINT ["/ros_entrypoint.sh"]
+CMD ["zsh"]
+ENV SHELL /usr/bin/zsh
+ENV RUNNING_IN_DOCKER true
+
+# Switch back to dialog for any ad-hoc use of apt-get
+ENV DEBIAN_FRONTEND=
\ No newline at end of file
diff --git a/dockerfiles/DevenvMelodicFlexbotics.Dockerfile b/dockerfiles/other/DevenvMelodicFlexbotics.Dockerfile
similarity index 100%
rename from dockerfiles/DevenvMelodicFlexbotics.Dockerfile
rename to dockerfiles/other/DevenvMelodicFlexbotics.Dockerfile
diff --git a/dockerfiles/DevenvPCL.Dockerfile b/dockerfiles/other/DevenvPCL.Dockerfile
similarity index 100%
rename from dockerfiles/DevenvPCL.Dockerfile
rename to dockerfiles/other/DevenvPCL.Dockerfile
diff --git a/dockerfiles/Robouton.Dockerfile b/dockerfiles/other/Robouton.Dockerfile
similarity index 100%
rename from dockerfiles/Robouton.Dockerfile
rename to dockerfiles/other/Robouton.Dockerfile
diff --git a/dockerfiles/ScanNPlan.Dockerfile b/dockerfiles/other/ScanNPlan.Dockerfile
similarity index 100%
rename from dockerfiles/ScanNPlan.Dockerfile
rename to dockerfiles/other/ScanNPlan.Dockerfile
diff --git a/dockerfiles/SherlockAPP.Dockerfile b/dockerfiles/other/SherlockAPP.Dockerfile
similarity index 100%
rename from dockerfiles/SherlockAPP.Dockerfile
rename to dockerfiles/other/SherlockAPP.Dockerfile
diff --git a/dockerfiles/Sherlock_demo.Dockerfile b/dockerfiles/other/Sherlock_demo.Dockerfile
similarity index 100%
rename from dockerfiles/Sherlock_demo.Dockerfile
rename to dockerfiles/other/Sherlock_demo.Dockerfile
diff --git a/dockerfiles/DevenvKinetic.Dockerfile b/dockerfiles/other/kinetic.Dockerfile
similarity index 100%
rename from dockerfiles/DevenvKinetic.Dockerfile
rename to dockerfiles/other/kinetic.Dockerfile
diff --git a/dockerfiles/snp_workshop.Dockerfile b/dockerfiles/other/snp_workshop.Dockerfile
similarity index 100%
rename from dockerfiles/snp_workshop.Dockerfile
rename to dockerfiles/other/snp_workshop.Dockerfile
diff --git a/dockerfiles/ssh.Dockerfile b/dockerfiles/other/ssh.Dockerfile
similarity index 100%
rename from dockerfiles/ssh.Dockerfile
rename to dockerfiles/other/ssh.Dockerfile
diff --git a/dockerfiles/urko.Dockerfile b/dockerfiles/other/urko.Dockerfile
similarity index 100%
rename from dockerfiles/urko.Dockerfile
rename to dockerfiles/other/urko.Dockerfile
diff --git a/dotfiles/docker.bash b/dotfiles/docker.bash
index dfd71c5..8ee2660 100644
--- a/dotfiles/docker.bash
+++ b/dotfiles/docker.bash
@@ -1,80 +1,63 @@
-# Poining to pip venv
-# alias rocker="~/.venv/rocker/bin/rocker"
-# alias ddeploy="~/.venv/ddeploy/bin/ddeploy"
-
 # docker common commands
 alias dim="docker images"
-alias drm="docker rm"
-alias drmi="docker rmi"
-
 alias dpsa="docker ps -a"
 alias dps="docker ps"
-
+alias drm="docker rm"
+alias drmi="docker rmi"
 alias dsp="docker system prune --all"
+alias dimp="docker image prune"
 
-function dex() {
-	docker exec -it $1 ${2:-bash}
+# Run container with rocker
+# usage: rundock {noetic, melodic} [{remodel_ws, odin_ws}] [cmd]
+function rundock() {
+	cd ~/ros/$1/$2;
+	rocker --home --user --nvidia --x11 --ssh --git --network host --privileged --name $1 devenv:$1 $3
 }
 
-function dsr() {
-	docker stop $1;docker rm $1
-}
-
-function runremodel() {
-	rocker --x11 --nvidia --privileged --network=host --name remodel_docker --oyr-run-arg " -v iiwa_state_recorder:/home/remodel/iiwa_state_recorder -v /home/andres/test/remodel_shared:/home/remodel/remodel_shared" -- remodel_app:melodic bash -c "'roslaunch remodel_app remodel_app.launch use_sim:=true docker:=true skill_manager:=true collision_detector:=true ui:=true cad:=true joystick:=false'"
-}
-
-function rundoc() {
-	rocker --home --user --nvidia --pulse --x11 --ssh --git --volume /dev/video0:/dev/video0 --privileged --name melodic --network host devenv:melodic $1
-}
-
-function docrun() {
-	rocker --nvidia --pulse --x11 --volume /dev/video0:/dev/video0 --privileged --oyr-run-arg " -v odin_robot_volume:/root/" --name odin_robot --network host odin_robot:melodic $1
-}
-
-function runodin() {
-	rocker --nvidia --pulse --x11 --privileged --volume /dev/video0:/dev/video0 --name odin_melodic --network host devenv:melodic $1
-}
-
-function runmelodic() {
-	rocker --home --user --nvidia --x11 --ssh --git  --name melodic devenv:melodic $1
-}
-
-function runnoetic() {
-	rocker --home --user --x11 --nvidia --ssh --git --name noetic devenv:noetic $1
-}
-
-function runkinetic() {
-	rocker --home --user --nvidia --x11 --ssh --git --name kinetic devenv:kinetic $1
+# Execute container, move to workspace, and source SHELL
+# usage: dat {noetic, melodic} {remodel_ws, odin_ws}
+function dat() {
+	docker exec -it $1 bash -c "cd ~/ros/$1/$2 && $ext"
 }
 
+# Remove all stoped containers
 function drma() {
-	docker rm $(docker ps -a -f status=exited -q)
+	drm $(docker ps -a -f status=exited -q)
 }
 
-function dat() {
-	docker exec -it melodic bash -c "cd ~/ros/melodic/$1 && $ext"
+# Stop and remove
+function dsr() {
+	docker stop $1;
+	docker rm $1
 }
 
-function datmelodic() {
-	docker exec -it melodic bash -c "cd ~/ros/melodic/$1 && zsh"
+# Remove all unused or dangling immages
+function drmui(){
+	drmi $(dim --filter "dangling=true" -q --no-trunc)
 }
 
-function datnoetic() {
-	docker exec -it noetic -c "cd ~/ros/noetic/$1 && $ext"
+# Build docker image
+# usage: dockbuild {noetic, melodic}
+function dockbuild(){
+	cd ~/srcs/development_environment/dockerfiles;
+	docker build -t devenv:$1 --build-arg USER_API_KEY_ARTIFACTS_TECNALIA="$(cat ~/.ssh/user_api_key_artifacts_tecnalia)" -f $1.Dockerfile .
 }
 
-function datremodel() {
-	docker exec -it remodel_docker bash
-}
+# function runpythonsyntax(){
+# 	rocker --home --name python_syntax tecnalia-docker-dev.artifact.tecnalia.com/docker:git
+# }
 
-function datkinetic() {
-	docker exec -it kinetic -c "cd ~/ros/kinetic/$1 && $ext"
-}
+# function runremodel() {
+# 	rocker --x11 --nvidia --privileged --network=host --name remodel_docker --oyr-run-arg " -v iiwa_state_recorder:/home/remodel/iiwa_state_recorder -v /home/andres/test/remodel_shared:/home/remodel/remodel_shared" -- remodel_app:melodic bash -c "'roslaunch remodel_app remodel_app.launch use_sim:=true docker:=true skill_manager:=true collision_detector:=true ui:=true cad:=true joystick:=false'"
+# }
 
-function runpythonsyntax(){
-	rocker --home --name python_syntax tecnalia-docker-dev.artifact.tecnalia.com/docker:git
-}
+# function docrun() {
+# 	rocker --nvidia --pulse --x11 --volume /dev/video0:/dev/video0 --privileged --oyr-run-arg " -v odin_robot_volume:/root/" --name odin_robot --network host odin_robot:melodic $1
+# }
+
+# function runodin() {
+# 	rocker --nvidia --pulse --x11 --privileged --volume /dev/video0:/dev/video0 --name odin_melodic --network host devenv:melodic $1
+# }
 
 #DOCKER
 alias dexec='f(){ docker exec -w /root/ --detach-keys="ctrl-@" -e DISPLAY=$DISPLAY -it $1  /bin/bash -c "terminator --no-dbus";  unset -f f; }; f'
diff --git a/dotfiles/ros.bash b/dotfiles/ros.bash
index e38d402..e4add5e 100644
--- a/dotfiles/ros.bash
+++ b/dotfiles/ros.bash
@@ -2,8 +2,17 @@
 # ROS aliases and functions
 ###################################################################
 
-# Define ROS_DISTRO before source ROS
-if [ -z $ROS_DISTRO ]; then export ROS_DISTRO=noetic; fi
+# Define ROS_DISTRO before source ROS on native OS
+# if [ -z $ROS_DISTRO ]; then export ROS_DISTRO=noetic; fi
+if [[ -z "${ROS_DISTRO}" ]]; then
+    ROS_DIR=/opt/ros
+    if [ -d "$ROS_DIR" ];
+    then
+        export ROS_DISTRO=$(basename $(find /opt/ros/* -maxdepth 0 -type d | head -1))
+    else
+        unset ROS_DISTRO
+    fi
+fi
 
 # Determine shell extension
 if [ -z $SHELL ]; then echo "SHELL not set"; else ext=$(basename ${SHELL}); fi
@@ -39,14 +48,19 @@ function sourcethis(){
 function cb() {
     pwd_cb=${PWD}
     roshome
-    catkin build --summarize "$@"
+    catkin build --summarize --cmake-args -DCMAKE_BUILD_TYPE=Release -- "$@"
     sourcethis
     cd ${pwd_cb}
 }
 
 # Clean workspace (delete the generated folders, then catkin build)
 function cbclean(){
-    roshome && rm -rf build devel install && catkin build --summarize
+    roshome && rm -rf build devel install && catkin build --summarize --cmake-args -DCMAKE_BUILD_TYPE=Release
+}
+
+# Run ci locally
+function runci(){
+    rosrun industrial_ci run_ci ROS_DISTRO="$@" DOCKER_IMAGE=tecnalia-robotics-docker.artifact.tecnalia.com/flexbotics-base-devel:"$@"
 }
 
 # Initialize catkin workspace, configure and build it
@@ -55,15 +69,18 @@ function cib(){
 }
 
 # If terminal starts in a ws, auto source it (useful for vscode)
-pwd_init=${PWD}
-cropped=${PWD#${HOME}/ros/${ROS_DISTRO}/}
-WS_name=${cropped%%/*}
-WS_path=${HOME}/ros/${ROS_DISTRO}/${WS_name}
-FILE=${WS_path}/devel/setup.${ext}
-if [[ -f $FILE ]]; then
-  cd ${WS_path}
-  source $FILE
-  cd ${pwd_init}
+if [ -z ${ROS_DISTRO+x} ]; then ;
 else
-  source /opt/ros/${ROS_DISTRO}/setup.${ext}
-fi
+    pwd_init=${PWD}
+    cropped=${PWD#${HOME}/ros/${ROS_DISTRO}/}
+    WS_name=${cropped%%/*}
+    WS_path=${HOME}/ros/${ROS_DISTRO}/${WS_name}
+    FILE=${WS_path}/devel/setup.${ext}
+    if [[ -f $FILE ]]; then
+        cd ${WS_path}
+        source $FILE
+        cd ${pwd_init}
+    else
+        source /opt/ros/${ROS_DISTRO}/setup.${ext}
+    fi
+fi
\ No newline at end of file
diff --git a/notes/ci_local_test.md b/notes/ci_local_test.md
index 567dbb8..c4ad4b8 100644
--- a/notes/ci_local_test.md
+++ b/notes/ci_local_test.md
@@ -1,13 +1,77 @@
-# Checkin python_syntax
+# RUN ci local
 
-in terminal run (from dotfiles docker.bash):
+Source: https://git.code.tecnalia.com/tecnalia_robotics/documentation/-/blob/master/tutorials/docker_ci.adoc
 
-runpythonsyntax
+## Case 1: verify that a repository passes the CI without .rosinstall file
 
-in docker container run:
+1. docker login tecnalia-robotics-docker.artifact.tecnalia.com (Optional -- only to use tecnalia docker images)
+2. docker pull tecnalia-robotics-docker.artifact.tecnalia.com/flexbotics-base-devel:ROSDISTRO (Optional -- point 4 actually done this)
+3. Download the ci repository into the workspace: 
+	git clone https://github.com/ros-industrial/industrial_ci.git (Optional -- pass the branch legacy (-b legacy), but the master is also working)
+4. rosrun industrial_ci run_ci ROS_DISTRO=ROSDISTRO DOCKER_IMAGE=tecnalia-robotics-docker.artifact.tecnalia.com/flexbotics-base-devel:ROSDISTRO (Replace ROSDISTRO by melodic, noetic, etc.)
 
-apk add --update python2
+## Case 2: Case 2: verify that a repository passes the CI with .rosinstall file
+4. rosrun industrial_ci run_ci ROS_DISTRO=ROSDISTRO DOCKER_IMAGE=tecnalia-robotics-docker.artifact.tecnalia.com/flexbotics-base-devel:ROSDISTRO UPSTREAM_WORKSPACE=file ROSINSTALL_FILENAME=.rosinstall
+
+## Other options:
+DOCKER_COMMIT=test_ci -- Save the docker image in order to iteract later with it.
+
+## Simplify using a alias
+
+function runci(){
+    rosrun industrial_ci run_ci ROS_DISTRO="$@" DOCKER_IMAGE=tecnalia-robotics-docker.artifact.tecnalia.com/flexbotics-base-devel:"$@" 
+}
+
+Usage:	runci noetic
+	runci melodic
+
+## Check python_syntax
+
+a. Locally -- just run: 
+	python -m compileall -q .
+
+b. In docker (using the same docker than tecnalia ci)
+
+function runpythonsyntax(){
+	rocker --home --name python_syntax tecnalia-docker-dev.artifact.tecnalia.com/docker:git
+}
+
+inside docker container run:
+	apk add --update python2
 
 go to project source folder, and run:
+	python -m compileall -q .
+
+
+## Check adoc_syntax
+a. Locally -- just run: 
+	curl -Ls https://git.code.tecnalia.com/tecnalia_robotics-public/gitlab_templates/raw/master/scripts/asciidoctor_syntax_check.bash | bash -s -- .
+	
+b. In docker:
+	1. apk add --update curl asciidoctor bash
+	2. Then a.
+	
+## Check bash_syntax
+a. Locally -- just run: 
+	1. find . -type f -name '*.sh' -exec shellcheck -s sh {} + || RET=1
+	2. find . -type f -name '*.bash' -exec shellcheck -s bash {} + || RET=1
+
+b. In docker:
+	1. apk add --update shellcheck
+	
+## Check clang format (Not tested)
+a. Locally -- just run: 
+	1. wget https://git.code.tecnalia.com/tecnalia_robotics-public/gitlab_templates/raw/master/clang-format -O .clang-format
+	2. .ci_config/gitlab.sh
+
+## Check file structure
+	docker run -v ${PWD}:/ac tecnalia-docker-dev.artifact.tecnalia.com/cytopia/awesome-ci file-trailing-space --path=/ac --extension=py,txt,cpp,h,md,sh,bash,xml,launch --ignore=.ci_config || RET=1
+	docker run -v ${PWD}:/ac tecnalia-docker-dev.artifact.tecnalia.com/cytopia/awesome-ci file-utf8 --path=/ac --extension=py,txt,cpp,h,md,sh,bash,xml,launch --ignore=.ci_config || RET=1
+
+## More tips
+	docker login tecnalia-docker-dev.artifact.tecnalia.com -u ${ARTIFACT_CI_USER} -p ${ARTIFACT_CI_TOKEN}
 
-python -m compileall -q .
\ No newline at end of file
+### Black magic
+	curl -L "https://git.code.tecnalia.com/tecnalia_robotics-public/gitlab_templates/-/jobs/artifacts/master/raw/dot_devcontainer.tar.gz?job=deploy_devcontainer" | tar xz
+	
+	
-- 
GitLab