Add noetic:cpu support

ammaryasirnaich · Jun 4, 2020 · 33a48ad · 33a48ad
1 parent 9c3267c
commit 33a48ad
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diff --git a/Makefile b/Makefile
@@ -169,6 +169,12 @@ cpu_ros_melodic: ## [CPU] Build ROS Melodic Container
 	docker build -t turlucode/ros-melodic:cpu cpu/melodic/base
 	@printf "\n\033[92mDocker Image: turlucode/ros-melodic:cpu\033[0m\n"
 
+## NOETIC
+
+cpu_ros_noetic: ## [CPU] Build ROS Noetic Container
+	docker build -t turlucode/ros-noetic:cpu cpu/noetic/base
+	@printf "\n\033[92mDocker Image: turlucode/ros-noetic:cpu\033[0m\n"
+
 ## Helper TASKS
 cpu_run_help: ## [CPU] Prints help and hints on how to run an [CPU]-based image
 	 @printf "\nCommand example:\ndocker run --rm -it --runtime=nvidia --privileged --net=host --ipc=host \\ \n--device=/dev/dri:/dev/dri \\ \n-v /tmp/.X11-unix:/tmp/.X11-unix -e DISPLAY=$DISPLAY \\ \n-v $HOME/.Xauthority:/root/.Xauthority -e XAUTHORITY=/root/.Xauthority \\ \n-v <PATH_TO_YOUR_CATKIN_WS>:/root/catkin_ws \\ \n-e ROS_IP=<HOST_IP or HOSTNAME> \\ \nturlucode/ros-indigo:cpu\n"

diff --git a/Readme.md b/Readme.md
@@ -29,7 +29,8 @@ Support for other grahics cards will follow!
 |      Indigo      |         yes         | - CUDA 8 (cuDNN 6,7)<br>- CUDA 10 (cuDNN 7)<br>- CUDA 10.1 (cuDNN 7) | - OpenCV 2.x (default)<br>- OpenCV 3.x |
 |      Kinetic     |         yes         | - CUDA 8 (cuDNN 6)<br>- CUDA 10 (cuDNN 7)<br>- CUDA 10.1 (cuDNN 7)   | - OpenCV 2.x (default)<br>- OpenCV 3.x |
 |      Melodic     |         yes         | - CUDA 10 (cuDNN 7)<br>- CUDA 10.1 (cuDNN 7)                         | - OpenCV 3.x (default)                 |
-|   Bouncy (ROS2)  |         yes         |                            no support yet                            | - OpenCV 3.x (default)                 |
+|      Noetic      |         yes         |                             coming soon!                             | - OpenCV 4.x (default)                 |
+|   Bouncy (ROS2)  |         yes         |                            no support yet                            | - OpenCV 3.x (Ubuntu 18.04)            |
 
 You can also see the complete list by running:
 
@@ -59,7 +60,7 @@ docker run --rm -it --privileged --net=host --ipc=host \
 --device=/dev/dri:/dev/dri \
 -v /tmp/.X11-unix:/tmp/.X11-unix -e DISPLAY=$DISPLAY \
 -v $HOME/.Xauthority:/home/$(id -un)/.Xauthority -e XAUTHORITY=/home/$(id -un)/.Xauthority \
--e ROS_IP=localhost \
+-e ROS_IP=127.0.0.1 \
 turlucode/ros-indigo:cpu
 ````
 A terminator window will pop-up and the rest you know it! :)
@@ -79,7 +80,7 @@ docker run --rm -it --privileged --net=host --ipc=host \
 -e DOCKER_USER_ID=$(id -u) \
 -e DOCKER_USER_GROUP_NAME=$(id -gn) \
 -e DOCKER_USER_GROUP_ID=$(id -g) \
--e ROS_IP=localhost \
+-e ROS_IP=127.0.0.1 \
 turlucode/ros-indigo:cpu
 ````
 
@@ -213,7 +214,7 @@ docker run --rm -it --runtime=nvidia --privileged --net=host --ipc=host \
 -e DOCKER_USER_ID=$(id -u) \
 -e DOCKER_USER_GROUP_NAME=$(id -gn) \
 -e DOCKER_USER_GROUP_ID=$(id -g) \
--e ROS_IP=localhost \
+-e ROS_IP=127.0.0.1 \
 turlucode/ros-indigo:nvidia
 ````
 

diff --git a/cpu/noetic/base/Dockerfile b/cpu/noetic/base/Dockerfile
@@ -0,0 +1,87 @@
+FROM ubuntu:20.04
+
+MAINTAINER Athanasios Tasoglou <[email protected]>
+LABEL Description="ROS-Melodic-Desktop (Ubuntu 20.04)" Vendor="TurluCode" Version="1.0"
+LABEL com.turlucode.ros.version="noetic"
+
+# Install packages without prompting the user to answer any questions
+ENV DEBIAN_FRONTEND noninteractive 
+
+# Install packages
+RUN apt-get update && apt-get install -y \
+locales \
+lsb-release \
+mesa-utils \
+git \
+subversion \
+nano \
+terminator \
+xterm \
+wget \
+curl \
+htop \
+libssl-dev \
+build-essential \
+dbus-x11 \
+software-properties-common \
+gdb valgrind && \
+apt-get clean && rm -rf /var/lib/apt/lists/*
+
+# Install cmake 3.17.3
+RUN git clone https://github.com/Kitware/CMake.git && \
+cd CMake && git checkout tags/v3.17.3 && ./bootstrap --parallel=8 && make -j8 && make install && \
+cd .. && rm -rf CMake
+
+# Install new paramiko (solves ssh issues)
+RUN apt-add-repository universe
+RUN apt-get update && apt-get install -y python3-pip python build-essential && apt-get clean && rm -rf /var/lib/apt/lists/*
+RUN /usr/bin/yes | pip3 install --upgrade pip
+RUN /usr/bin/yes | pip3 install --upgrade virtualenv
+RUN /usr/bin/yes | pip3 install --upgrade paramiko
+RUN /usr/bin/yes | pip3 install --ignore-installed --upgrade numpy protobuf
+RUN /usr/bin/yes | pip3 install --upgrade setuptools
+
+# Locale
+RUN locale-gen en_US.UTF-8  
+ENV LANG en_US.UTF-8  
+ENV LANGUAGE en_US:en  
+ENV LC_ALL en_US.UTF-8
+
+# Install OhMyZSH
+RUN apt-get update && apt-get install -y zsh && apt-get clean && rm -rf /var/lib/apt/lists/*
+RUN wget https://github.com/robbyrussell/oh-my-zsh/raw/master/tools/install.sh -O - | zsh || true
+RUN chsh -s /usr/bin/zsh root
+RUN git clone https://github.com/sindresorhus/pure /root/.oh-my-zsh/custom/pure
+RUN ln -s /root/.oh-my-zsh/custom/pure/pure.zsh-theme /root/.oh-my-zsh/custom/
+RUN ln -s /root/.oh-my-zsh/custom/pure/async.zsh /root/.oh-my-zsh/custom/
+RUN sed -i -e 's/robbyrussell/refined/g' /root/.zshrc
+
+# Terminator Config
+RUN mkdir -p /root/.config/terminator/
+COPY assets/terminator_config /root/.config/terminator/config 
+COPY assets/terminator_background.png /root/.config/terminator/background.png
+
+# Install ROS
+RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
+RUN apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
+RUN apt-get update && apt-get install -y --allow-downgrades --allow-remove-essential --allow-change-held-packages \
+libpcap-dev \
+gstreamer1.0-tools libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev libgstreamer-plugins-good1.0-dev \
+ros-noetic-desktop-full python3-rosdep python3-rosinstall-generator python3-vcstool build-essential \
+ros-noetic-socketcan-bridge \
+ros-noetic-geodesy && \
+apt-get clean && rm -rf /var/lib/apt/lists/*
+
+# Configure ROS
+RUN rosdep init && rosdep update 
+RUN echo "source /opt/ros/noetic/setup.bash" >> /root/.bashrc
+RUN echo "export ROSLAUNCH_SSH_UNKNOWN=1" >> /root/.bashrc
+RUN echo "source /opt/ros/noetic/setup.zsh" >> /root/.zshrc
+RUN echo "export ROSLAUNCH_SSH_UNKNOWN=1" >> /root/.zshrc
+
+# Entry script - This will also run terminator
+COPY assets/entrypoint_setup.sh /
+ENTRYPOINT ["/entrypoint_setup.sh"]
+
+# ---
+CMD ["terminator"]
diff --git a/cpu/noetic/base/assets/entrypoint_setup.sh b/cpu/noetic/base/assets/entrypoint_setup.sh
@@ -0,0 +1,119 @@
+#! /bin/bash
+
+# Functions
+# TOOD: Check if we can use: getent passwd $USER to extract all variables
+# TODO: Check for valid inputs, cause now it will go through even with bad inputs
+check_envs () {
+    DOCKER_CUSTOM_USER_OK=true;
+    if [ -z ${DOCKER_USER_NAME+x} ]; then 
+        DOCKER_CUSTOM_USER_OK=false;
+        return;
+    fi
+
+    if [ -z ${DOCKER_USER_ID+x} ]; then 
+        DOCKER_CUSTOM_USER_OK=false;
+        return;
+    else
+        if ! [ -z "${DOCKER_USER_ID##[0-9]*}" ]; then 
+            echo -e "\033[1;33mWarning: User-ID should be a number. Falling back to defaults.\033[0m"
+            DOCKER_CUSTOM_USER_OK=false;
+            return;
+        fi
+    fi
+
+    if [ -z ${DOCKER_USER_GROUP_NAME+x} ]; then 
+        DOCKER_CUSTOM_USER_OK=false;
+        return;
+    fi
+
+    if [ -z ${DOCKER_USER_GROUP_ID+x} ]; then 
+        DOCKER_CUSTOM_USER_OK=false;
+        return;
+    else
+        if ! [ -z "${DOCKER_USER_GROUP_ID##[0-9]*}" ]; then 
+            echo -e "\033[1;33mWarning: Group-ID should be a number. Falling back to defaults.\033[0m"
+            DOCKER_CUSTOM_USER_OK=false;
+            return;
+        fi
+    fi
+}
+
+setup_env_user () {
+    USER=$1
+    USER_ID=$2
+    GROUP=$3
+    GROUP_ID=$4
+
+    ## Create user
+    useradd -m $USER
+
+    ## Copy zsh/sh configs
+    cp /root/.profile /home/$USER/
+    cp /root/.bashrc /home/$USER/
+    cp /root/.zshrc /home/$USER/
+    ## Copy terminator configs
+    mkdir -p /home/$USER/.config/terminator
+    cp /root/.config/terminator/config /home/$USER/.config/terminator/config
+    cp /root/.config/terminator/background.png /home/$USER/.config/terminator/background.png
+    cp -rf /root/.oh-my-zsh /home/$USER/
+    rm -rf /home/$USER/.oh-my-zsh/custom/pure.zsh-theme /home/$USER/.oh-my-zsh/custom/async.zsh
+    ln -s /home/$USER/.oh-my-zsh/custom/pure/pure.zsh-theme /home/$USER/.oh-my-zsh/custom/
+    ln -s /home/$USER/.oh-my-zsh/custom/pure/async.zsh /home/$USER/.oh-my-zsh/custom/
+    sed -i -e 's@ZSH=\"/root@ZSH=\"/home/$USER@g' /home/$USER/.zshrc
+    # Copy SSH keys & fix owner
+    if [ -d "/root/.ssh" ]; then
+        cp -rf /root/.ssh /home/$USER/
+        chown -R $USER:$GROUP /home/$USER/.ssh
+    fi
+
+    ## Fix owner
+    chown $USER:$GROUP /home/$USER
+    chown -R $USER:$GROUP /home/$USER/.config
+    chown $USER:$GROUP /home/$USER/.profile
+    chown $USER:$GROUP /home/$USER/.bashrc
+    chown $USER:$GROUP /home/$USER/.zshrc
+    chown -R $USER:$GROUP /home/$USER/.oh-my-zsh
+
+    ## This a trick to keep the evnironmental variables of root which is important!
+    echo "if ! [ \"$DOCKER_USER_NAME\" = \"$(id -un)\" ]; then" >> /root/.bashrc
+    echo "    cd /home/$DOCKER_USER_NAME" >> /root/.bashrc
+    echo "    su $DOCKER_USER_NAME" >> /root/.bashrc
+    echo "fi" >> /root/.bashrc
+
+    echo "if ! [ \"$DOCKER_USER_NAME\" = \"$(id -un)\" ]; then" >> /root/.zshrc
+    echo "    cd /home/$DOCKER_USER_NAME" >> /root/.zshrc
+    echo "    su $DOCKER_USER_NAME" >> /root/.zshrc
+    echo "fi" >> /root/.zshrc
+
+    ## Setup Password-file
+    PASSWDCONTENTS=$(grep -v "^${USER}:" /etc/passwd)
+    GROUPCONTENTS=$(grep -v -e "^${GROUP}:" -e "^docker:" /etc/group)
+
+    (echo "${PASSWDCONTENTS}" && echo "${USER}:x:$USER_ID:$GROUP_ID::/home/$USER:/bin/bash") > /etc/passwd
+    (echo "${GROUPCONTENTS}" && echo "${GROUP}:x:${GROUP_ID}:") > /etc/group
+    (if test -f /etc/sudoers ; then echo "${USER}  ALL=(ALL)   NOPASSWD: ALL" >> /etc/sudoers ; fi)
+}
+
+
+# ---Main---
+
+# Create new user
+## Check Inputs
+check_envs
+
+## Determine user & Setup Environment
+if [ $DOCKER_CUSTOM_USER_OK == true ]; then
+    echo "  -->DOCKER_USER Input is set to '$DOCKER_USER_NAME:$DOCKER_USER_ID:$DOCKER_USER_GROUP_NAME:$DOCKER_USER_GROUP_ID'";
+    echo -e "\033[0;32mSetting up environment for user=$DOCKER_USER_NAME\033[0m"
+    setup_env_user $DOCKER_USER_NAME $DOCKER_USER_ID $DOCKER_USER_GROUP_NAME $DOCKER_USER_GROUP_ID
+else
+    echo "  -->DOCKER_USER* variables not set. Using 'root'.";
+    echo -e "\033[0;32mSetting up environment for user=root\033[0m"
+    DOCKER_USER_NAME="root"
+fi
+
+# Change shell to zsh
+chsh -s /usr/bin/zsh $DOCKER_USER_NAME
+
+# Run CMD from Docker
+"$@"
diff --git a/cpu/noetic/base/assets/terminator_background.png b/cpu/noetic/base/assets/terminator_background.png
diff --git a/cpu/noetic/base/assets/terminator_config b/cpu/noetic/base/assets/terminator_config
@@ -0,0 +1,23 @@
+[global_config]
+  title_receive_bg_color = "#64d8ff"
+  enabled_plugins = TerminalShot, LaunchpadCodeURLHandler, APTURLHandler, Logger, LaunchpadBugURLHandler
+  title_transmit_bg_color = "#15b0dc"
+[keybindings]
+[profiles]
+  [[default]]
+    use_system_font = False
+    background_darkness = 0.69
+    background_type = transparent
+    background_image = /root/.config/terminator/background.png
+    scroll_background = False
+    font = Monospace 12
+    scrollback_infinite = True
+[layouts]
+  [[default]]
+    [[[child1]]]
+      type = Terminal
+      parent = window0
+    [[[window0]]]
+      type = Window
+      parent = ""
+[plugins]