refactor: Unify dockerfile across all workspaces and add tests

cartographer_ws/docker/Dockerfile

@@ -1,50 +1,102 @@
 # Base Image : https://hub.docker.com/r/osrf/ros/tags?page=1&name=humble
-FROM osrf/ros:humble-desktop-full
+FROM osrf/ros:humble-desktop-full AS amd64
+# Base Image : https://hub.docker.com/r/arm64v8/ros/tags?page=1&name=humble
+FROM arm64v8/ros:humble AS arm64
+
+# Use docker automatic platform args to select the base image.
+# It may be `arm64` or `amd64` depending on the platform.
+# Ref: https://docs.docker.com/reference/dockerfile/#automatic-platform-args-in-the-global-scope
+FROM $TARGETARCH
 
 LABEL org.opencontainers.image.authors="[email protected]"
 
+# Arguments for the default user
 ARG USERNAME=user
 ARG USER_UID=1000
-ARG USER_GID=$USER_UID
-
-# Create the user
-RUN groupadd --gid $USER_GID $USERNAME \
-    && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \
-    #
-    # [Optional] Add sudo support. Omit if you don't need to install software after connecting.
-    && apt-get update \
-    && apt-get install -y sudo \
-    && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
-    && chmod 0440 /etc/sudoers.d/$USERNAME \
-    && rm -rf /var/lib/apt/lists/*
-RUN apt-get update && apt-get upgrade -y \
+
+# Keep downloaded packages for caching purposes
+# Ref: https://github.com/moby/buildkit/blob/master/frontend/dockerfile/docs/reference.md#example-cache-apt-packages
+RUN rm -f /etc/apt/apt.conf.d/docker-clean; echo 'Binary::apt::APT::Keep-Downloaded-Packages "true";' > /etc/apt/apt.conf.d/keep-cache
+
+# Upgrade packages
+# Ref: https://pythonspeed.com/articles/security-updates-in-docker/
+# Ref: https://github.com/moby/buildkit/blob/master/frontend/dockerfile/docs/reference.md#example-cache-apt-packages
+# Ref: https://github.com/moby/buildkit/issues/1673#issuecomment-1264502398
+# Ref: https://github.com/moby/buildkit/issues/1673#issuecomment-1987107404
+RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+    apt-get update && apt-get upgrade -y \
     && rm -rf /var/lib/apt/lists/*
-RUN apt-get update && apt-get install -y python3-pip \
+
+# Install sudo and create a user with sudo privileges
+# Ref: https://stackoverflow.com/a/65434659
+RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+    apt-get update && apt-get install -y sudo \
+    && useradd -m -s /bin/bash -u $USER_UID -G sudo $USERNAME \
+    && echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers \
     && rm -rf /var/lib/apt/lists/*
-ENV SHELL /bin/bash
 
 # Install common tools
-RUN apt-get update && apt-get install -y \
+RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+    apt-get update && apt-get install -y \
     curl \
     git \
-    git-extras \
     htop \
+    iputils-ping \
+    nano \
     net-tools \
     tmux \
+    tree \
+    unzip \
     vim \
     wget \
+    zip \
+    && rm -rf /var/lib/apt/lists/*
+
+# Install Python pip
+RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+    apt-get update && apt-get install -y \
+    python3-pip \
     && rm -rf /var/lib/apt/lists/*
 
-# Install turtlebot3, RVIZ, Gazebo and Cartographer
-RUN apt-get update && apt-get install -y \
-    ros-$ROS_DISTRO-gazebo-ros-pkgs \
+# Install custom tools
+RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+    apt-get update && apt-get install -y \
+    git-extras \
+    && rm -rf /var/lib/apt/lists/*
+
+# Install ROS2 Gazebo packages for amd64
+RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+    if [ "$TARGETARCH" = "amd64" ]; then \
+        apt-get update && apt-get install -y \
+        ros-$ROS_DISTRO-gazebo-ros-pkgs \
+        ros-$ROS_DISTRO-gazebo-ros2-control \
+        && rm -rf /var/lib/apt/lists/*; \
+    fi
+
+# Install ROS2 RVIZ and other custom ROS2 packages
+RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+    apt-get update && apt-get install -y \
     ros-$ROS_DISTRO-rviz2 \
+    && rm -rf /var/lib/apt/lists/*
+
+# TODO: Add more commands here
+# For example, to install additional packages, uncomment the following lines and add the package names
+# RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+#     apt-get update && apt-get install -y \
+#     $OTHER_PACKAGES \
+#     && rm -rf /var/lib/apt/lists/*
+RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+    apt-get update && apt-get install -y \
     ros-$ROS_DISTRO-cartographer \
     ros-$ROS_DISTRO-turtlebot3* \
     ros-$ROS_DISTRO-rqt-robot-steering \
     && rm -rf /var/lib/apt/lists/*
 
-COPY .bashrc /home/$USERNAME/.bashrc
-
 USER $USERNAME
+# Create Gazebo cache directory with correct ownership to avoid permission issues after volume mount
+RUN mkdir /home/$USERNAME/.gazebo
+# TODO: Run additional commands as non-root user here
+COPY .bashrc /home/$USERNAME/.bashrc
+# TODO: Copy additional files here
+ENTRYPOINT []
 CMD ["/bin/bash"]

husky_ws/docker/Dockerfile

@@ -1,64 +1,92 @@
-# Base Image : https://hub.docker.com/r/arm64v8/ros/tags?page=1&name=humble
-FROM arm64v8/ros:humble AS arm64
 # Base Image : https://hub.docker.com/r/osrf/ros/tags?page=1&name=humble
 FROM osrf/ros:humble-desktop-full AS amd64
+# Base Image : https://hub.docker.com/r/arm64v8/ros/tags?page=1&name=humble
+FROM arm64v8/ros:humble AS arm64
 
 # Use docker automatic platform args to select the base image.
 # It may be `arm64` or `amd64` depending on the platform.
-# Reference: 
-# - https://docs.docker.com/reference/dockerfile/#automatic-platform-args-in-the-global-scope
+# Ref: https://docs.docker.com/reference/dockerfile/#automatic-platform-args-in-the-global-scope
 FROM $TARGETARCH
 
 LABEL org.opencontainers.image.authors="[email protected]"
 
-ARG TARGETARCH
+# Arguments for the default user
 ARG USERNAME=user
 ARG USER_UID=1000
-ARG USER_GID=$USER_UID
 
-# Create the user
-RUN groupadd --gid $USER_GID $USERNAME \
-    && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \
-    #
-    # [Optional] Add sudo support. Omit if you don't need to install software after connecting.
-    && apt-get update \
-    && apt-get install -y sudo \
-    && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
-    && chmod 0440 /etc/sudoers.d/$USERNAME \
-    && rm -rf /var/lib/apt/lists/*
-RUN apt-get update && apt-get upgrade -y \
-    && rm -rf /var/lib/apt/lists/*
-RUN apt-get update && apt-get install -y python3-pip \
+# Keep downloaded packages for caching purposes
+# Ref: https://github.com/moby/buildkit/blob/master/frontend/dockerfile/docs/reference.md#example-cache-apt-packages
+RUN rm -f /etc/apt/apt.conf.d/docker-clean; echo 'Binary::apt::APT::Keep-Downloaded-Packages "true";' > /etc/apt/apt.conf.d/keep-cache
+
+# Upgrade packages
+# Ref: https://pythonspeed.com/articles/security-updates-in-docker/
+# Ref: https://github.com/moby/buildkit/blob/master/frontend/dockerfile/docs/reference.md#example-cache-apt-packages
+# Ref: https://github.com/moby/buildkit/issues/1673#issuecomment-1264502398
+# Ref: https://github.com/moby/buildkit/issues/1673#issuecomment-1987107404
+RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+    apt-get update && apt-get upgrade -y \
     && rm -rf /var/lib/apt/lists/*
-ENV SHELL /bin/bash
 
-# ********************************************************
-# * Anything else you want to do like clean up goes here *
-# ********************************************************
+# Install sudo and create a user with sudo privileges
+# Ref: https://stackoverflow.com/a/65434659
+RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+    apt-get update && apt-get install -y sudo \
+    && useradd -m -s /bin/bash -u $USER_UID -G sudo $USERNAME \
+    && echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers \
+    && rm -rf /var/lib/apt/lists/*
 
 # Install common tools
-RUN apt-get update && apt-get install -y \
+RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+    apt-get update && apt-get install -y \
     curl \
     git \
-    git-extras \
     htop \
+    iputils-ping \
+    nano \
     net-tools \
     tmux \
+    tree \
+    unzip \
     vim \
     wget \
+    zip \
+    && rm -rf /var/lib/apt/lists/*
+
+# Install Python pip
+RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+    apt-get update && apt-get install -y \
+    python3-pip \
+    && rm -rf /var/lib/apt/lists/*
+
+# Install custom tools
+RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+    apt-get update && apt-get install -y \
+    git-extras \
     && rm -rf /var/lib/apt/lists/*
 
-RUN if [ "$TARGETARCH" = "amd64" ]; then \
+# Install ROS2 Gazebo packages for amd64
+RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+    if [ "$TARGETARCH" = "amd64" ]; then \
         apt-get update && apt-get install -y \
         ros-$ROS_DISTRO-gazebo-ros-pkgs \
         ros-$ROS_DISTRO-gazebo-ros2-control \
         && rm -rf /var/lib/apt/lists/*; \
     fi
 
-# Install ROS2 packages
-RUN apt-get update && apt-get install -y \
+# Install ROS2 RVIZ and other custom ROS2 packages
+RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+    apt-get update && apt-get install -y \
     ros-$ROS_DISTRO-rviz2 \
-    #
+    && rm -rf /var/lib/apt/lists/*
+
+# TODO: Add more commands here
+# For example, to install additional packages, uncomment the following lines and add the package names
+# RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+#     apt-get update && apt-get install -y \
+#     $OTHER_PACKAGES \
+#     && rm -rf /var/lib/apt/lists/*
+RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+    apt-get update && apt-get install -y \
     # The packages below are used by the Husky repository.
     ros-$ROS_DISTRO-controller-manager \
     ros-$ROS_DISTRO-diff-drive-controller \
@@ -83,28 +111,34 @@ RUN apt-get update && apt-get install -y \
     ros-$ROS_DISTRO-slam-toolbox \
     ros-$ROS_DISTRO-imu-tools \
     ros-$ROS_DISTRO-teleop-twist-keyboard \
-    && sudo rm -rf /var/lib/apt/lists/*
-
-COPY .bashrc /home/$USERNAME/.bashrc
+    && rm -rf /var/lib/apt/lists/*
 
-# [Optional] Set the default user. Omit if you want to keep the default as root.
 USER $USERNAME
-CMD ["/bin/bash"]
+# Create Gazebo cache directory with correct ownership to avoid permission issues after volume mount
+RUN mkdir /home/$USERNAME/.gazebo
+# TODO: Run additional commands as non-root user here
+COPY .bashrc /home/$USERNAME/.bashrc
+# TODO: Copy additional files here
 
 # Setup husky controller by the script.
 # Build certain packages from source for arm64.
 COPY script /home/$USERNAME/script
-RUN sudo apt-get update \
+RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+    sudo apt-get update \
     && bash -ie /home/$USERNAME/script/install-clearpath-robot.sh \
     && sudo rm -rf /var/lib/apt/lists/*
 # Note: The script need to be run as user, not root.
 # Reference: https://github.com/clearpathrobotics/clearpath_computer_installer/tree/main
 COPY clearpath_computer_installer /home/$USERNAME/clearpath_computer_installer
-RUN sudo apt-get update \
+RUN --mount=type=cache,target=/var/cache/apt,sharing=private \
+    sudo apt-get update \
     && bash -ie /home/$USERNAME/clearpath_computer_installer/clearpath_computer_installer.sh \
     && sudo rm -rf /var/lib/apt/lists/*
 # Setup udev rules.
 COPY udev_rules /home/$USERNAME/udev_rules
 RUN /home/$USERNAME/udev_rules/install_udev_rules.sh
 # Generate robot configuration files.
 RUN bash -ie /home/$USERNAME/script/husky-generate.sh
+
+ENTRYPOINT []
+CMD ["/bin/bash"]