From d4063819a7e663b82d596f5e33ad3548e1fbd8f6 Mon Sep 17 00:00:00 2001
From: David Spielman <david.spielman7@gmail.com>
Date: Fri, 6 Dec 2024 15:13:49 -0600
Subject: [PATCH] Added Dockerfile and docker compose files

---
 docker/Dockerfile                   | 48 +++++++++++++++++++++++++++++
 docker/docker-compose.yml           | 36 ++++++++++++++++++++++
 docker/extrinsic_calibration_gui.sh |  3 ++
 docker/intrinsic_calibration_gui.sh |  3 ++
 4 files changed, 90 insertions(+)
 create mode 100644 docker/Dockerfile
 create mode 100644 docker/docker-compose.yml
 create mode 100755 docker/extrinsic_calibration_gui.sh
 create mode 100755 docker/intrinsic_calibration_gui.sh

diff --git a/docker/Dockerfile b/docker/Dockerfile
new file mode 100644
index 00000000..f04387a3
--- /dev/null
+++ b/docker/Dockerfile
@@ -0,0 +1,48 @@
+ARG TAG=jammy
+FROM ubuntu:${TAG}
+
+ARG ROS_DISTRO
+
+SHELL ["/bin/bash", "-c"]
+
+ENV DEBIAN_FRONTEND noninteractive
+
+USER root
+
+# Install
+RUN apt update \
+  && apt upgrade -y \
+  && apt install -y cmake curl git python3
+
+# Add ROS2 sources to install ROS infrastructure tools
+RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \
+  && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
+
+# Install and configure ROS infrastructure tools
+RUN apt update \
+  && apt install -y python3-vcstool python3-colcon-common-extensions python3-rosdep \
+  && rosdep init \
+  && rosdep update
+
+# Bind mount the source directory so as not to unnecessarily copy source code into the docker image
+ARG WORKSPACE_DIR=/opt/industrial_calibration
+RUN --mount=type=bind,target=${WORKSPACE_DIR}/src/industrial_calibration \
+  apt update -y -qq \
+  && vcs import ${WORKSPACE_DIR}/src < ${WORKSPACE_DIR}/src/industrial_calibration/dependencies.repos --shallow \
+  && rosdep install \
+    --from-paths ${WORKSPACE_DIR}/src \
+    -iry
+
+# Build the repository
+# Bind mount the source directory so as not to unnecessarily copy source code into the docker image
+RUN --mount=type=bind,target=${WORKSPACE_DIR}/src/industrial_calibration \
+  cd ${WORKSPACE_DIR} \
+  && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release \
+  && rm -rf build log
+
+# Set the entrypoint to source the workspace
+COPY docker/extrinsic_calibration_gui.sh /extrinsic_calibration_gui.sh
+COPY docker/intrinsic_calibration_gui.sh /intrinsic_calibration_gui.sh
+
+
+ENTRYPOINT ["/extrinsic_calibration_gui"]
\ No newline at end of file
diff --git a/docker/docker-compose.yml b/docker/docker-compose.yml
new file mode 100644
index 00000000..637ab3e7
--- /dev/null
+++ b/docker/docker-compose.yml
@@ -0,0 +1,36 @@
+services:
+  industrial_calibration:
+    build:
+      context: ..
+      dockerfile: docker/Dockerfile
+      args:
+        TAG: jammy
+        ROS_DISTRO: humble
+    environment:
+      DISPLAY: $DISPLAY
+      XAUTHORITY: $XAUTHORITY
+      NVIDIA_DRIVER_CAPABILITIES: all
+      ROS_LOG_DIR: /tmp
+    container_name: industrial_calibration
+    image: ghcr.io/ros-industrial/industrial_calibration:jammy
+    stdin_open: true
+    tty: true
+    network_mode: host
+    privileged: false
+    user: ${CURRENT_UID}  # CURRENT_UID=$(id -u):$(id -g)
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix
+      - /etc/hosts:/etc/hosts
+      - /etc/passwd:/etc/passwd:ro
+      - /etc/group:/etc/group:ro
+    
+    # entrypoint: /extrinsic_calibration_gui.sh
+    entrypoint: /intrinsic_calibration_gui.sh
+
+    deploy:
+      resources:
+        reservations:
+          devices:
+            - driver: nvidia
+              count: 1
+              capabilities: [gpu]
\ No newline at end of file
diff --git a/docker/extrinsic_calibration_gui.sh b/docker/extrinsic_calibration_gui.sh
new file mode 100755
index 00000000..2e7431ba
--- /dev/null
+++ b/docker/extrinsic_calibration_gui.sh
@@ -0,0 +1,3 @@
+#!/bin/bash
+source /opt/industrial_calibration/install/setup.bash
+./opt/industrial_calibration/install/industrial_calibration/bin/industrial_calibration_extrinsic_hand_eye_calibration_app
\ No newline at end of file
diff --git a/docker/intrinsic_calibration_gui.sh b/docker/intrinsic_calibration_gui.sh
new file mode 100755
index 00000000..384711a7
--- /dev/null
+++ b/docker/intrinsic_calibration_gui.sh
@@ -0,0 +1,3 @@
+#!/bin/bash
+source /opt/industrial_calibration/install/setup.bash
+./opt/industrial_calibration/install/industrial_calibration/bin/industrial_calibration_camera_intrinsic_calibration_app
\ No newline at end of file