321 split docker image structure

.devcontainer/dev/devcontainer.json

@@ -0,0 +1,17 @@
+{
+  "name": "dev",
+  "dockerComposeFile": "../../docker-compose.yml",
+  "service": "dev",
+  "workspaceFolder": "/rcdt_robotics",
+  "overrideCommand": true,
+  "customizations": {
+    "vscode": {
+      "extensions": [
+        "ms-python.python",
+        "llvm-vs-code-extensions.vscode-clangd",
+        "charliermarsh.ruff",
+        "astral-sh.ty"
+      ]
+    }
+  }
+}

.devcontainer/franka/devcontainer.json

@@ -0,0 +1,7 @@
+{
+  "name": "franka",
+  "dockerComposeFile": "../../platforms.yml",
+  "service": "rcdt_franka",
+  "workspaceFolder": "/rcdt/ros",
+  "overrideCommand": true
+}

.devcontainer/moveit/devcontainer.json

@@ -0,0 +1,7 @@
+{
+  "name": "moveit",
+  "dockerComposeFile": "../../platforms.yml",
+  "service": "rcdt_moveit",
+  "workspaceFolder": "/rcdt/ros",
+  "overrideCommand": true
+}

.devcontainer/panther/devcontainer.json

@@ -0,0 +1,7 @@
+{
+  "name": "husarion",
+  "dockerComposeFile": "../../platforms.yml",
+  "service": "rcdt_husarion",
+  "workspaceFolder": "/rcdt/ros",
+  "overrideCommand": true
+}

.dockerignore

@@ -0,0 +1 @@
+.venv

.gitignore

@@ -30,3 +30,8 @@ clangd/
 # for LSP in neovim
 .clangd-build/
 **/compile_commands.json
+
+# generated compose files
+platforms.yml
+simulator.yml
+tools.yml

attach.sh

@@ -0,0 +1,24 @@
+#!/bin/bash
+
+# SPDX-FileCopyrightText: Alliander N. V.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+mapfile -t CONTAINER_NAMES < <(docker ps -q | xargs -n 1 docker inspect --format '{{ .Name }}')
+mapfile -t CONTAINER_IDS < <(docker ps -q)
+
+echo "Choose Docker container to attach to:"
+for i in "${!CONTAINER_NAMES[@]}"; do
+  CLEAN_NAME=$(echo "${CONTAINER_NAMES[$i]}" | sed 's/^[\/]//')
+  echo "$((i+1)). ${CLEAN_NAME}"
+done
+
+stty sane
+read -p "Enter container number (1-N): " CHOICE
+
+SELECTED_ID="${CONTAINER_IDS[$((CHOICE-1))]}"
+SELECTED_NAME="${CONTAINER_NAMES[$((CHOICE-1))]}"
+
+echo "Attaching to $SELECTED_ID/$SELECTED_NAME"
+
+docker exec -it $SELECTED_NAME bash

common/build.sh

@@ -0,0 +1,53 @@
+#!/bin/bash
+
+# SPDX-FileCopyrightText: Alliander N. V.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+############################################################################################
+# Script to build one of the non-base Dockerfiles.
+# Each needs the following arguments:
+#  - ARCH: architecture to build for [amd64 / arm64]
+#  - PACKAGE: package name to build [core / franka / husarion / velodyne / vision]
+#  - BASE_PACKAGE: base image tag [base / core]
+############################################################################################
+
+ARCH=$1
+PACKAGE=$2
+BASE_PACKAGE=$3
+NO_CACHE=$4
+export DOCKER_BUILDKIT=1
+
+# Set Docker image tag
+SCRIPT_DIR=$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")" &>/dev/null && pwd)
+GIT_BRANCH=$(git branch --show-current)
+if [ "$GIT_BRANCH" != "main" ] ; then
+  IMAGE_TAG=rcdt/robotics:$PACKAGE-$ARCH-$GIT_BRANCH
+else
+  IMAGE_TAG=rcdt/robotics:$PACKAGE-$ARCH
+fi
+
+source ./checks.sh $ARCH
+
+# Check if base image with specific branch tag exists, otherwise use latest
+if [ -n "$(docker images | grep rcdt/robotics | grep $BASE_PACKAGE-$ARCH-$GIT_BRANCH)" ] ; then
+  echo "Using base image with tag $BASE_PACKAGE-$ARCH-$GIT_BRANCH."
+  BASE_IMAGE_GIT_TAG=$BASE_PACKAGE-$ARCH-$GIT_BRANCH
+else
+  BASE_IMAGE_GIT_TAG=$BASE_PACKAGE-$ARCH
+  echo "Base image with tag $BASE_PACKAGE-$ARCH-$GIT_BRANCH not found. Using $BASE_PACKAGE-$ARCH."
+fi
+echo $BASE_IMAGE_GIT_TAG
+BASE_IMAGE=rcdt/robotics:$BASE_IMAGE_GIT_TAG
+echo $BASE_IMAGE
+
+# Build the Docker image
+(
+  cd "$SCRIPT_DIR"/.. && \
+  docker build -f rcdt_$PACKAGE/rcdt_$PACKAGE.Dockerfile \
+  --build-arg BASE_IMAGE=$BASE_IMAGE \
+  --platform $PLATFORM \
+  $NO_CACHE \
+  -t $IMAGE_TAG \
+  .
+  )

common/build_base.sh

@@ -0,0 +1,31 @@
+#!/bin/bash
+
+# SPDX-FileCopyrightText: Alliander N. V.
+#
+# SPDX-License-Identifier: Apache-2.0
+ARCH=$1
+PACKAGE=base
+
+export DOCKER_BUILDKIT=1
+
+# Set Docker image tag
+SCRIPT_DIR=$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")" &>/dev/null && pwd)
+GIT_BRANCH=$(git branch --show-current)
+if [ "$GIT_BRANCH" == "main" ] ; then
+  IMAGE_TAG=$PACKAGE
+else
+  IMAGE_TAG=$PACKAGE-$GIT_BRANCH
+fi
+
+source ./checks.sh $ARCH
+
+# Build the Docker image
+BASE_IMAGE=nvidia/cuda:12.9.1-cudnn-devel-ubuntu24.04-$ARCH
+(
+  cd "$SCRIPT_DIR"/.. && \
+  docker build -f rcdt_$PACKAGE.Dockerfile \
+  --build-arg BASE_IMAGE=$BASE_IMAGE \
+  --platform $PLATFORM \
+  -t "rcdt/robotics:$IMAGE_TAG-$ARCH" \
+  .
+  )

common/build_franka.sh

@@ -0,0 +1,10 @@
+#!/bin/bash
+
+# SPDX-FileCopyrightText: Alliander N. V.
+#
+# SPDX-License-Identifier: Apache-2.0
+ARCH=$1
+PACKAGE=franka
+BASE_PACKAGE=cuda
+
+./build.sh $ARCH $PACKAGE $BASE_PACKAGE

common/build_realsense.sh

@@ -0,0 +1,10 @@
+#!/bin/bash
+
+# SPDX-FileCopyrightText: Alliander N. V.
+#
+# SPDX-License-Identifier: Apache-2.0
+ARCH=$1
+PACKAGE=realsense
+BASE_PACKAGE=cuda
+
+./build.sh $ARCH $PACKAGE $BASE_PACKAGE

common/build_simulation.sh

@@ -0,0 +1,10 @@
+#!/bin/bash
+
+# SPDX-FileCopyrightText: Alliander N. V.
+#
+# SPDX-License-Identifier: Apache-2.0
+ARCH=$1
+PACKAGE=simulation
+BASE_PACKAGE=base
+
+./build.sh $ARCH $PACKAGE $BASE_PACKAGE

common/build_velodyne.sh

@@ -0,0 +1,10 @@
+#!/bin/bash
+
+# SPDX-FileCopyrightText: Alliander N. V.
+#
+# SPDX-License-Identifier: Apache-2.0
+ARCH=$1
+PACKAGE=velodyne
+BASE_PACKAGE=cuda
+
+./build.sh $ARCH $PACKAGE $BASE_PACKAGE

common/build_zed.sh

@@ -0,0 +1,10 @@
+#!/bin/bash
+
+# SPDX-FileCopyrightText: Alliander N. V.
+#
+# SPDX-License-Identifier: Apache-2.0
+ARCH=$1
+PACKAGE=zed
+BASE_PACKAGE=cuda
+
+./build.sh $ARCH $PACKAGE $BASE_PACKAGE

common/checks.sh

@@ -0,0 +1,29 @@
+#!/bin/bash
+
+# SPDX-FileCopyrightText: Alliander N. V.
+#
+# SPDX-License-Identifier: Apache-2.0
+ARCH=$1
+
+# Check the platform
+if [ "$ARCH" != "amd64" ] && [ "$ARCH" != "arm64" ] ; then
+  echo "Invalid architecture $ARCH. Please choose either 'amd64' or 'arm64'."
+  exit 1
+else
+  echo "Running for architecture $ARCH."
+fi
+
+# Set platform and start QEMU if needed
+if [ "$ARCH" == "amd64" ] ; then
+  PLATFORM="linux/amd64"
+  if [ "$(uname -p)" != "x86_64" ] ; then
+    echo "ERROR: Running amd64 build on $(uname -p) device, exiting."
+    exit 1
+  fi
+else 
+  PLATFORM="linux/arm64/v8"
+  if [ "$(uname -p)" == "x86_64" ] ; then
+    echo "***** Setting up QEMU environment... *****"
+    docker run --rm --privileged multiarch/qemu-user-static --reset -p yes
+  fi
+fi

common/dev-pkgs.txt

@@ -0,0 +1,3 @@
+    ros-jazzy-nmea-navsat-driver
+    ros-jazzy-moveit-ros-perception
+    ros-jazzy-topic-tools

common/pull.sh

@@ -0,0 +1,17 @@
+#!/bin/bash
+
+# SPDX-FileCopyrightText: Alliander N. V.
+#
+# SPDX-License-Identifier: Apache-2.0
+ARCH=$1
+
+BASE_IMAGE=nvidia/cuda:12.9.1-cudnn-devel-ubuntu24.04
+
+if [ "$ARCH" != "amd64" ] && [ "$ARCH" != "arm64" ] ; then
+  echo "Invalid architecture $ARCH. Please choose either 'amd64' or 'arm64'."
+  exit 1
+fi
+
+docker pull --platform linux/$ARCH $BASE_IMAGE
+docker tag $BASE_IMAGE $BASE_IMAGE-$ARCH
+echo "Pulled and tagged image $BASE_IMAGE-$ARCH."