Merge pull request #125 from cwruRobotics/docker-move-rosdep-for-bett…

…er-cacheing

Docker move rosdep for better cacheing

.devcontainer/linux/devcontainer.json

@@ -6,13 +6,13 @@
     },
     "mounts": [
         // SSH Keys
-        "type=bind,source=/home/${localEnv:USER}/.ssh,target=/root/.ssh,readonly",
+        "type=bind,source=/home/${localEnv:USER}/.ssh,target=/home/rov/.ssh,readonly",
         // X11 for guis
         "source=/tmp/.X11-unix,target=/tmp/.X11-unix,type=bind,consistency=cached",
         // gitconfig
-        "type=bind,source=/home/${localEnv:USER}/.gitconfig,target=/root/.gitconfig,readonly"
+        "type=bind,source=/home/${localEnv:USER}/.gitconfig,target=/home/rov/.gitconfig,readonly"
     ],
-    "workspaceFolder": "/root/rov-24",
+    "workspaceFolder": "/home/rov/rov-24",
     "customizations": {
         "vscode" : {
             "extensions": ["ms-python.flake8", "ms-azuretools.vscode-docker",

.devcontainer/linux_test_environment/devcontainer.json

@@ -0,0 +1,24 @@
+{
+    "name": "ROV Linux Test",
+    "build": {
+        "dockerfile": "../../Dockerfile"
+    },
+    "mounts": [
+        "type=bind,source=/home/${localEnv:USER}/.ssh,target=/home/rov/.ssh,readonly",
+        "source=/tmp/.X11-unix,target=/tmp/.X11-unix,type=bind,consistency=cached",
+        "type=bind,source=/home/${localEnv:USER}/.gitconfig,target=/home/rov/.gitconfig,readonly"
+    ],
+    "workspaceFolder": "/home/rov/rov-24",
+    "customizations": {
+        "vscode": {
+            "extensions": [
+                "ms-python.flake8",
+                "ms-azuretools.vscode-docker",
+                "streetsidesoftware.code-spell-checker",
+                "ms-python.python",
+                "ms-python.mypy-type-checker"
+            ]
+        }
+    },
+    "privileged": true
+}

.devcontainer/macos/devcontainer.json

@@ -5,9 +5,9 @@
         "DISPLAY": "unix:0"
     },
     "mounts": [
-        "type=bind,source=/Users/${localEnv:USER}/.ssh,target=/root/.ssh,readonly",
+        "type=bind,source=/Users/${localEnv:USER}/.ssh,target=/home/rov/.ssh,readonly",
     ],
-    "workspaceFolder": "/root/rov-24",
+    "workspaceFolder": "/home/rov/rov-24",
     "customizations": {
         "vscode" : {
             "extensions": ["ms-python.flake8", "ms-azuretools.vscode-docker",

.devcontainer/windows/devcontainer.json

@@ -4,7 +4,7 @@
     "containerEnv": {  
         "DISPLAY": "${localEnv:DISPLAY}"
     },
-    "workspaceFolder": "/root/rov-24",
+    "workspaceFolder": "/home/rov/rov-24",
     "customizations": {
         "vscode" : {
             "extensions": ["ms-python.flake8", "ms-azuretools.vscode-docker",

.dockerignore

@@ -1,3 +1,4 @@
 build
 install
-log
+log
+*.egg-info

Dockerfile

@@ -1,48 +1,99 @@
-FROM osrf/ros:iron-desktop-full
+# syntax=docker/dockerfile-upstream:master-labs
+# Done so --parents flag works
 
-RUN sudo apt-get update -y
+FROM osrf/ros:iron-desktop-full
 
-# Install missing libxcb-cursor0 xvfb for PyQt unit testing
+RUN apt-get update -y \
+  && apt-get install --no-install-recommends -y \
+  # Install Video for Linux
+  v4l-utils=1.22.1-2build1 -y \
+  # Install lsusb
+  usbutils=1:014-1build1 \
+  # Install nano
+  nano=6.2-1 \
+  # Install pip
+  python3-pip=22.0.2+dfsg-1ubuntu0.4 \
+  # Install geographiclib dependencies for mavros.
+  geographiclib-tools=1.52-1 \
+  # Install missing libxcb-cursor0 xvfb for PyQt unit testing
 # https://pytest-qt.readthedocs.io/en/latest/troubleshooting.html
-RUN sudo apt-get install xvfb -y
+  xvfb=2:21.1.4-2ubuntu1.7~22.04.8 \
+  && apt-get upgrade -y \
+  # Clean for better performance
+  && apt-get clean \
+  && rm -rf /var/lib/apt/lists/*
 
-# Install pip
-RUN sudo apt-get install python3-pip -y
+# Done here because file needs sudo perms
+# Switch to bash so the process subsition works. aka <()
+# Runs MAVROS helper install script
+SHELL ["/bin/bash", "-c"]
+RUN . <(wget -qO- https://raw.githubusercontent.com/mavlink/mavros/ros2/mavros/scripts/install_geographiclib_datasets.sh)
 
-# Install Video for Linux
-RUN sudo apt-get install v4l-utils -y
+#Set up rov user
+ARG USER_NAME=rov
+ARG USER_UID=1000
+ARG USER_GID=1000
 
-# Install lsusb
-RUN sudo apt-get install usbutils -y
+RUN groupadd ${USER_NAME} --gid ${USER_GID} \
+    && useradd -l -m ${USER_NAME} -u ${USER_UID} -g ${USER_GID} -s /bin/bash
 
-# Install nano
-RUN sudo apt-get install nano -y
+# Gives Sudo perms to USER
+RUN echo "${USER_NAME} ALL=(ALL) NOPASSWD:ALL" > /etc/sudoers.d/${USER_NAME} \
+  && chmod 0440 /etc/sudoers.d/${USER_NAME}
 
-RUN sudo apt-get update -y
-RUN sudo apt-get upgrade -y
+# Adds $USER to environment
+ENV USER ${USER_NAME}
+# Switches to rov user
+USER ${USER_NAME}
 
-WORKDIR /root/rov-24
+# Update Pip
+RUN pip install --no-cache-dir --upgrade  pip==24.0 
 
+WORKDIR /home/${USER_NAME}/rov-24
+
+# One might wonder why the following is done.
+# It is done so that the dependencies can be cached without needing to be reinstalled
+# each and everytime. Since these do not change too often this improves performance in most cases.
+# Copies in Python deps
 COPY pyproject.toml .
+# Copies in ROS deps
+# https://docs.docker.com/engine/reference/builder/#copy---parents
+COPY --parents --chown=${USER_NAME}:${USER_NAME} ./*/*/package.xml ./*/*/*/package.xml ./*/*/*/*/package.xml ./
+# Copies in Install Script
+COPY .vscode/install_dependencies.sh .
 
-RUN pip install --no-cache-dir . \
-  && rm pyproject.toml
+# Installs ROS and python dependencies
+RUN ./install_dependencies.sh \
+  # Clean up
+  && rm install_dependencies.sh
 
-COPY . .
+# Remove build warnings
+ENV PYTHONWARNINGS ignore:::setuptools.command.install,ignore:::setuptools.command.easy_install,ignore:::pkg_resources
 
 # TODO for future nerd to do this via ENTRYPOINT which be better but, I could not get ENTRYPOINT to play with VsCODE.
-RUN . /root/rov-24/.vscode/rov_setup.sh
-RUN echo "$export PYTHONWARNINGS=ignore:::setuptools.command.install,ignore:::setuptools.command.easy_install,ignore:::pkg_resources" >> ~/.bashrc ;
-
-# Installs ROS and python dependencies
-RUN . /root/rov-24/.vscode/install_dependencies.sh
-
-RUN . /opt/ros/iron/setup.sh \
-    && PYTHONWARNINGS=ignore:::setuptools.command.install,ignore:::setuptools.command.easy_install,ignore:::pkg_resources; export PYTHONWARNINGS\
-    && colcon build --symlink-install
+COPY .vscode/rov_setup.sh .
+RUN ./rov_setup.sh \
+  && rm rov_setup.sh
 
+COPY --chown=${USER_NAME}:${USER_NAME}  .git .git
 # Remove identity file generated by action/checkout
 # Start by finding all files ending in config
 # Then removes file paths without "git"
 # Then removes the 'sshCommand' line from each file
-RUN  find . -name "*config" | grep git | while read -r line; do sed -i '/sshCommand/d' $line; done
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
+RUN  find . -name "*config" | grep git | while read -r line; do sed -i "/sshCommand/d" "$line"; done
+
+# Do full copy and build as last step
+COPY --chown=${USER_NAME}:${USER_NAME} . .
+
+ARG EXPECTED_OUTPUT="All system dependencies have been satisfied"
+
+# Checks that all rosdeps are installed.
+RUN if [[ $(rosdep check -r --from-paths src --ignore-src) != "${EXPECTED_OUTPUT}" ]]; \ 
+  then echo "ROS deps not all installed. Try adding another /* directory layer to the COPY instruction labeled 'Copies in ROS deps'."; \
+  rosdep check -r --from-paths src --ignore-src; \
+  exit 1; \
+  fi
+
+RUN . /opt/ros/iron/setup.sh \
+  && colcon build --symlink-install