Added Dockerfile

Signed-off-by: Alberto Tudela <[email protected]>

.dockerignore

@@ -0,0 +1,5 @@
+################################################################################
+# Repo
+
+.git/
+.gitignore

.github/workflows/docker_image.yml

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+name: Docker Image
+
+on:
+  workflow_dispatch:
+  workflow_run:
+    workflows: ["Build"]
+    types:
+      - completed
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  dsr-image:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Extract branch name
+        shell: bash
+        run: echo "##[set-output name=branch;]$(echo ${GITHUB_REF#refs/heads/})"
+        id: extract_branch
+      - name: Checkout
+        uses: actions/[email protected]
+
+      - name: Extract metadata (tags, labels) for Docker
+        id: meta
+        uses: docker/[email protected]
+        with:
+          images: grupoavispa/scitos2
+          tags: |
+            type=ref, suffix=latest, event=branch
+            type=sha
+
+      - name: Docker Setup Buildx
+        uses: docker/[email protected]
+        id: scitos2-builder
+
+      - name: Cache Docker layers
+        uses: actions/[email protected]
+        with:
+          path: /tmp/.buildx-cache
+          key: ${{ runner.os }}-buildx-${{ github.sha }}
+          restore-keys: |
+            ${{ runner.os }}-buildx-
+
+      - name: Login to Docker Hub
+        if: github.event_name != 'pull_request'
+        uses: docker/[email protected]
+        with:
+          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          password: ${{ secrets.DOCKERHUB_TOKEN }}
+
+      - name: Build against scitos2-builder
+        uses: docker/[email protected]
+        with:
+          builder: ${{ steps.scitos2-builder.outputs.name }}
+          context: docker
+          push: ${{ github.event_name != 'pull_request' }}
+          tags: ${{ steps.meta.outputs.tags }}
+          labels: ${{ steps.meta.outputs.labels }}
+          cache-from: type=local,src=/tmp/.buildx-cache
+          cache-to: type=local,dest=/tmp/.buildx-cache-new

Dockerfile

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+ARG BASE_IMAGE="humble-ros-core-jammy"
+ARG MIRA_WS=/opt/mira
+ARG OVERLAY_WS=/opt/overlay_ws
+ARG SYSTEM=ubuntu-2204lts-x64
+
+# Install MIRA
+FROM ubuntu:22.04 AS mira-base
+ARG DEBIAN_FRONTEND=noninteractive
+ARG MIRA_WS
+ARG SYSTEM
+RUN apt update && apt install --no-install-recommends -y \
+    ca-certificates cmake curl doxygen g++ git subversion unzip wget \
+    libxml2-dev libssl-dev \
+    libsqlite3-dev libboost-all-dev \
+    libogre-1.9-dev libsvn-dev \
+    libopencv-dev binutils-dev \
+    libiberty-dev libcurl4-gnutls-dev libprocps-dev \
+    libqwt-qt5-dev libqt5webkit5-dev libqwtmathml-qt5-dev \
+    libqt5opengl5-dev libqt5svg5-dev qt*5-dev qttools5-dev-tools && \
+    rm -rf /var/lib/apt/lists/*
+RUN curl -o mira-installer-binary.sh https://www.mira-project.org/downloads/mira-installer-binary.sh
+RUN chmod +x mira-installer-binary.sh
+RUN ./mira-installer-binary.sh -s ${SYSTEM} -d ${MIRA_WS}
+# Setup MIRA environment variables
+ENV MIRA_PATH=${MIRA_WS}
+ENV PATH=$PATH:${MIRA_WS}/bin
+ENV LD_LIBRARY_PATH=$LD_LIBRARY_PATH:${MIRA_WS}/lib
+# Install SCITOS and Tory Configs
+RUN mirapackage --addurl ftp://ftp.metralabs-service.com/repos/MIRA-commercial/${SYSTEM}/MIRA-commercial.repo
+RUN mirapackage -R
+RUN mirapackage --noninteractive -I CANDriver SCITOS SCITOSConfigs ToryConfig
+
+# Build Scitos2
+FROM ros:${BASE_IMAGE} AS scitos2-base
+ARG MIRA_WS
+ARG OVERLAY_WS
+ENV MIRA_PATH=${MIRA_WS}
+COPY --from=mira-base ${MIRA_WS} ${MIRA_WS}
+WORKDIR $OVERLAY_WS
+RUN mkdir -p src
+COPY . ./src/scitos2
+
+# Install MIRA and ROS2 dependencies
+RUN apt update && apt install --no-install-recommends -y \
+    libopencv-dev libprocps-dev \
+    python3-pip \
+    ros-dev-tools \
+    python3-vcstool \
+    python3-colcon-clean \
+    ros-$ROS_DISTRO-rmw-cyclonedds-cpp 
+RUN vcs import src < src/scitos2/.github/repos.repos
+RUN rosdep init && rosdep update
+RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
+    rosdep install -q -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO && \
+    rm -rf /var/lib/apt/lists/*
+RUN . /opt/ros/$ROS_DISTRO/setup.sh && colcon build
+RUN colcon clean workspace --base-select build -y
+
+FROM scitos2-base AS final
+ARG MIRA_WS
+ARG OVERLAY_WS
+ENV MIRA_WS=${MIRA_WS}
+ENV LD_LIBRARY_PATH=$LD_LIBRARY_PATH:${MIRA_WS}/lib
+ENV OVERLAY_WS=${OVERLAY_WS}
+
+WORKDIR $OVERLAY_WS/src/scitos2
+COPY ./docker/ros_entrypoint.sh /
+RUN chmod +x /ros_entrypoint.sh
+COPY ./docker/cyclonedds.xml /
+ENTRYPOINT ["/ros_entrypoint.sh"]
+CMD ["ros2", "launch", "scitos2_mira", "mira.launch.py"]

README.md

@@ -10,7 +10,7 @@
 `scitos2` is a ROS 2 stack designed for Metralabs robots that utilize the MIRA framework, including models such as SCITOS, TORY, MORPHIA, etc. This stack comprises several packages, each serving a unique purpose:
 
  * [scitos2_behavior_tree]: This package contains behavior tree nodes that extend your robot's functionalities, such as emergency stop, reset motor stop, etc.
- * [scito2_charging_dock]: This package contains the implementation of the charging dock plugin for the SCITOS and TORY robots from MetraLabs using the opennav_docking server.
+ * [scitos2_charging_dock]: This package contains the implementation of the charging dock plugin for the SCITOS and TORY robots from MetraLabs using the opennav_docking server.
  * [scitos2_common]: This package provides common functionalities for the scitos2 stack.
  * [scitos2_core]: This package provides the abstract interface (virtual base classes) for the Scitos Modules.
  * [scitos2_mira]: This is the main node that interfaces with the MIRA framework.
@@ -37,8 +37,35 @@ rosdep install -i --from-path src --rosdistro rolling -y
 colcon build --symlink-install
 ```
 
+### Docker
+
+A Dockerfile is provided in the repository to build the `scitos2` stack. This setup ensures that you have a consistent and isolated environment. The image sets a launch file to start the `mira_framework` with the default configuration file: `drive` and `charger` modules. This configuration can be modified by changing the `CMD` instruction in the Dockerfile.
+
+To build and run the `scitos2` stack using Docker, follow these steps:
+
+#### Building the Docker image
+
+First, build the Docker image using the provided Dockerfile in the repository:
+```bash
+cd /path/to/scitos2
+docker build -t grupoavispa/scitos2:latest .
+```
+
+#### Running the Docker container
+
+Once the image is built, you can run the container using the docker compose file provided in the repository. Before running the container:
+- Install the `udev` rules on your host machine to allow the container to access the robot's hardware.
+- Make sure the license file is in the `/opt/MIRA-licenses` directory on your host machine.
+- Install the configuration files for the robot in the `/opt/SCITOS` directory on your host machine.
+- Update the `docker-compose.yml` file by replacing the XXX placeholders with the correct elements.
+
+Then, run the container using the following command:
+```bash
+docker-compose up
+```
+
 [scitos2_behavior_tree]: /scitos2_behavior_tree
-[scito2_charging_dock]: /scitos2_charging_dock
+[scitos2_charging_dock]: /scitos2_charging_dock
 [scitos2_common]: /scitos2_common
 [scitos2_core]: /scitos2_core
 [scitos2_mira]: /scitos2_mira

docker-compose.yaml

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+services:
+  scitos:
+    container_name: scitos2
+    image: grupoavispa/scitos2:latest
+    build: .
+    network_mode: host
+    ipc: host
+    pid: host
+    mac_address: XX:XX:XX:XX:XX:XX
+    environment:
+      - ROS_DOMAIN_ID=${ROS_DOMAIN_ID}
+      - NET_INTERFACE=XXXXX
+    devices:
+      - /dev/ttyUSB2:/dev/USB_MLCAN
+    privileged: true
+    restart: unless-stopped
+    volumes:
+      - /opt/MIRA-licenses:/opt/MIRA-licenses
+      - /opt/SCITOS:/opt/SCITOS

docker/cyclonedds.xml

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+<?xml version="1.0" encoding="UTF-8" ?>
+<CycloneDDS xmlns="https://cdds.io/config" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="https://cdds.io/config https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/master/etc/cyclonedds.xsd">
+    <Domain id='any'>
+        <General>
+            <Interfaces>
+                <NetworkInterface name="${NET_INTERFACE}"/>
+            </Interfaces>
+        </General>
+    </Domain>
+</CycloneDDS>

docker/ros_entrypoint.sh

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+#!/bin/bash
+set -e
+
+######### ROS #########
+source /opt/ros/${ROS_DISTRO}/setup.bash
+source ${OVERLAY_WS}/install/local_setup.bash
+export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+export CYCLONEDDS_URI=/cyclonedds.xml
+
+######### MIRA #########
+export MIRA_PATH=${MIRA_WS}
+export PATH=$PATH:${MIRA_WS}/bin
+export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:${MIRA_WS}/lib
+source ${MIRA_WS}/scripts/mirabash
+
+exec "$@"