Add dev container.

jgoppert · Jan 3, 2023 · 3820c57 · 3820c57
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diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
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+###
+### Base: base image
+###
+
+FROM ubuntu:20.04 AS base
+LABEL maintainer="James Goppert <james.goppert@gmail.com>"
+
+# Set default shell during Docker image build to bash
+SHELL ["/bin/bash", "-c"]
+
+COPY docker_clean.sh /docker_clean.sh
+RUN chmod +x /docker_clean.sh
+
+# Install base packages
+RUN apt-get -y update && \
+	apt-get -y upgrade && \
+	apt-get install --no-install-recommends -y \
+		sudo \
+		locales \
+		&& \
+	/docker_clean.sh
+
+# set locale
+RUN locale-gen en_US.UTF-8
+
+# set user as default so install scripts look the same for local host install
+RUN groupadd -r -g 110 render \
+ && adduser --disabled-password --gecos '' user \
+ && adduser user sudo \
+ && adduser user render \
+ && echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
+USER user
+
+# initialise system locale
+ENV LANG=en_US.UTF-8
+ENV LANGUAGE=en_US:en
+ENV LC_ALL=en_US.UTF-8
+# required to allow nanopb to build on ubuntu 22.04 currently
+ENV PROTOCOL_BUFFERS_PYTHON_IMPLEMENTATION=python
+ENV XDG_RUNTIME_DIR=/tmp/runtime-docker
+
+# install dependencies using scripts in a manner that will cache build
+# when one script is modified
+COPY install/base.sh /tmp/install/base.sh
+RUN /tmp/install/base.sh && /docker_clean.sh
+
+###
+### Build: bare minimum to run the simulator
+###
+FROM base AS sim
+
+###
+### Build: bare minimum to build the binary
+###
+FROM base AS build
+
+COPY install/ros.sh /tmp/install/ros.sh
+RUN /tmp/install/ros.sh && /docker_clean.sh
+
+COPY install/gazebo.sh /tmp/install/gazebo.sh
+RUN /tmp/install/gazebo.sh && /docker_clean.sh
+
+COPY install/open_vino.sh /tmp/install/open_vino.sh
+RUN /tmp/install/open_vino.sh && /docker_clean.sh
+
+COPY install/extra.sh /tmp/install/extra.sh
+RUN /tmp/install/extra.sh && /docker_clean.sh
+
+# enable apt auto-completion by deleting autoclean task
+RUN sudo rm /etc/apt/apt.conf.d/docker-clean
+
+# create setting directory for ignition gazebo
+RUN mkdir -p /home/user/.ignition \
+  && chown -R user:user /home/user/.ignition
+
+# avoid .bashrc warning
+RUN mkdir -p /home/user/.bash_completion.d
+
+# create XDG runtime dir
+RUN mkdir /tmp/runtime-docker && sudo chmod 700 /tmp/runtime-docker
+
+# create src dir
+RUN sudo mkdir -p /workdir && sudo chown -R user:user /workdir && mkdir -p /workdir/src
+
+# setup .bashrc
+RUN mkdir -p /home/user/.bash_completion.d && \
+  echo "source /home/user/ws/devel/setup.bash" >> ~/.bashrc
+
+# enable entrypoint
+ENV PATH="/home/user/bin:${PATH}"
+ENV DISPLAY=${DISPLAY}
+
+WORKDIR /workdir
+COPY entrypoint.sh /
+RUN sudo chmod +x /entrypoint.sh
+ENTRYPOINT ["/entrypoint.sh"]
+
+# vim: set et fenc=utf-8 ff=unix ft=dockerfile sts=0 sw=2 ts=2 :
diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
@@ -0,0 +1,54 @@
+// For format details, see https://aka.ms/devcontainer.json. For config options, see the README at:
+// https://github.com/microsoft/vscode-dev-containers/tree/v0.245.2/containers/docker-existing-docker-compose
+// If you want to run as a non-root user in the container, see .devcontainer/docker-compose.yml.
+{
+	"name": "auav",
+
+	// Update the 'dockerComposeFile' list if you have more compose files or use different names.
+	// The .devcontainer/docker-compose.yml file contains any overrides you need/want to make.
+	"dockerComposeFile": [
+		"./docker-compose.yml"
+	],
+
+	// The 'service' property is the name of the service for the container that VS Code should
+	// use. Update this value and .devcontainer/docker-compose.yml to the real service name.
+	"service": "auav",
+
+	// The optional 'workspaceFolder' property is the path VS Code should open by default when
+	// connected. This is typically a file mount in .devcontainer/docker-compose.yml
+	"workspaceFolder": "/workdir",
+
+	// Use 'forwardPorts' to make a list of ports inside the container available locally.
+	// "forwardPorts": [],
+
+	// Uncomment the next line if you want start specific services in your Docker Compose config.
+	// "runServices": [],
+
+	// Uncomment the next line if you want to keep your containers running after VS Code shuts down.
+	// "shutdownAction": "none",
+
+	// Uncomment the next line to run commands after the container is created - for example installing curl.
+	// "postCreateCommand": "apt-get update && apt-get install -y curl",
+
+	// Uncomment to connect as a non-root user if you've added one. See https://aka.ms/vscode-remote/containers/non-root.
+	// "remoteUser": "vscode"
+
+	"customizations": {
+		// Configure properties specific to VS Code.
+		"vscode": {
+		  // Add the IDs of extensions you want installed when the container is created.
+		  "extensions": [
+			"ms-azuretools.vscode-docker",
+			"ms-vscode.cpptools",
+			"ms-vscode.cmake-tools",
+			"ms-vscode.cpptools-extension-pack",
+			"ms-vscode.cpptools-themes",
+			"trond-snekvik.devicetree",
+			"trond-snekvik.kconfig-lang",
+			"ms-python.python",
+			"eamodio.gitlens",
+			"akiramiyakoda.cppincludeguard"
+			]
+		}
+	  }
+}
diff --git a/.devcontainer/docker-compose.yml b/.devcontainer/docker-compose.yml
@@ -0,0 +1,32 @@
+version: "3.9"
+
+volumes:
+    # remembers ignition config, downloaded models etc
+    ignition_config:
+
+services:
+
+  auav:
+    image: jgoppert/auav_23_ros1:latest
+    build:
+      context: .
+    tty: true
+    stdin_open: true
+    privileged: true
+    hostname: auav
+    devices:
+      - /dev/net/tun:/dev/net/tun
+    environment:
+      - DISPLAY=${DISPLAY}
+    volumes:
+      - ./workdir:/workdir
+      - ..:/workdir/src/
+      - /tmp/.X11-unix:/tmp/.X11-unix:ro
+      - ignition_config:/home/user/.ignition:rw
+    deploy:
+      resources:
+        reservations:
+          devices:
+            - driver: nvidia
+              count: 1
+              capabilities: [gpu]
diff --git a/.devcontainer/docker_clean.sh b/.devcontainer/docker_clean.sh
@@ -0,0 +1,6 @@
+#!/bin/bash
+set -e
+sudo apt-get clean -y
+sudo apt-get autoremove --purge -y
+sudo rm -rf /var/lib/apt/lists/*
+sudo rm -rf /tmp/*
diff --git a/.devcontainer/entrypoint.sh b/.devcontainer/entrypoint.sh
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+#!/usr/bin/env bash
+bash
diff --git a/.devcontainer/install/base.sh b/.devcontainer/install/base.sh
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+#!/bin/bash
+set -e
+
+sudo apt-get -y update
+sudo apt-get -y upgrade
+sudo DEBIAN_FRONTEND=noninteractive apt-get install --no-install-recommends -y \
+	bash-completion \
+	build-essential \
+	curl \
+	git \
+	gnupg \
+	lsb-release \
+	python3-pip \
+	python3-setuptools \
+	python3-venv \
+	unzip \
+	wget
diff --git a/.devcontainer/install/docker.sh b/.devcontainer/install/docker.sh
@@ -0,0 +1,18 @@
+#!/bin/bash -x
+sudo apt-get update
+sudo apt-get install \
+    ca-certificates \
+    curl \
+    gnupg \
+    lsb-release
+sudo mkdir -p /etc/apt/keyrings
+curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo gpg --dearmor -o /etc/apt/keyrings/docker.gpg
+
+echo "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/docker.gpg] https://download.docker.com/linux/ubuntu $(lsb_release -cs) stable" | sudo tee /etc/apt/sources.list.d/docker.list > /dev/null
+
+sudo apt-get update
+sudo chmod a+r /etc/apt/keyrings/docker.gpg
+sudo apt-get update
+
+sudo apt-get install docker-ce docker-ce-cli containerd.io docker-compose-plugin
+sudo docker run hello-world
diff --git a/.devcontainer/install/extra.sh b/.devcontainer/install/extra.sh
@@ -0,0 +1,9 @@
+#!/bin/bash
+set -e
+
+sudo apt-get -y update
+sudo apt-get -y upgrade
+sudo DEBIAN_FRONTEND=noninteractive  apt-get install --no-install-recommends -y \
+	screen \
+	tcpdump \
+	vim
diff --git a/.devcontainer/install/gazebo.sh b/.devcontainer/install/gazebo.sh
@@ -0,0 +1,9 @@
+#!/bin/bash
+set -e
+
+sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
+echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
+sudo apt-get -y update
+sudo apt-get -y upgrade
+sudo DEBIAN_FRONTEND=noninteractive apt-get install --no-install-recommends -y \
+	gazebo11
diff --git a/.devcontainer/install/open_vino.sh b/.devcontainer/install/open_vino.sh
@@ -0,0 +1,13 @@
+#!/bin/bash
+
+# install openvino
+# source: https://docs.openvino.ai/latest/openvino_docs_install_guides_installing_openvino_apt.html
+wget https://apt.repos.intel.com/intel-gpg-keys/GPG-PUB-KEY-INTEL-SW-PRODUCTS.PUB
+sudo apt-key add GPG-PUB-KEY-INTEL-SW-PRODUCTS.PUB && rm GPG-PUB-KEY-INTEL-SW-PRODUCTS.PUB
+sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys ACFA9FC57E6C5DBE 
+echo "deb https://apt.repos.intel.com/openvino/2022 focal main" | sudo tee /etc/apt/sources.list.d/intel-openvino-2022.list
+sudo apt update
+sudo apt install openvino libngraph0-dev
+SOURCE_OPENVINO="source /opt/intel/openvino_2022/setupvars.sh"
+grep -qxF "$SOURCE_OPENVINO" ~/.bashrc || echo "$SOURCE_OPENVINO" >> ~/.bashrc
+source ~/.bashrc
diff --git a/.devcontainer/install/ros.sh b/.devcontainer/install/ros.sh
@@ -0,0 +1,14 @@
+#!/bin/bash
+set -e
+ROS_VERSION="noetic"
+
+sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
+curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
+sudo apt-get -y update
+sudo apt-get -y upgrade
+sudo DEBIAN_FRONTEND=noninteractive apt-get install --no-install-recommends -y \
+	ros-${ROS_VERSION}-desktop-full \
+	python3-rosdep \
+	python3-catkin-tools
+
+pip install pymavlink --user
diff --git a/.devcontainer/workdir/.gitignore b/.devcontainer/workdir/.gitignore
@@ -0,0 +1,2 @@
+*
+!.gitignore