[WIP] Implement multi-architecture builds

doc/010_Setup_Docker.md

@@ -92,6 +92,24 @@ In order to make sure that the kernel modules are properly loaded, you should re
 
 Now you are ready to use docker!
 
+### Cross Development for docker images
+
+To develop for arm-based boards on x86, you can enable your host machine execute non-native binary formats using [QEMU](https://www.qemu.org) and [binfmt_misc](https://www.kernel.org/doc/html/latest/admin-guide/binfmt-misc.html).
+
+When this is set up, docker is able to run images for the architectures supported by QEMU on your host machine (using CPU emulation).
+
+There is a docker image that can do the settings for you: [see here](https://github.com/multiarch/qemu-user-static)
+
+Quick enable:
+
+    sudo apt-get install qemu binfmt-support qemu-user-static
+    sudo docker run --rm --privileged multiarch/qemu-user-static --reset -p yes --credential yes
+
+Test it using e.g.
+
+    docker run --rm -ti arm64v8/ubuntu uname -m
+
+
 ### Using a registry
 If you want to use the image generated by the docker build from this repository, you can also use the already build image from the registry server.
 

docker_commands.bash

@@ -22,7 +22,7 @@ init_docker(){
         touch $GPUS_SETTINGS_FILE
         docker run --gpus=all --rm $IMAGE_NAME > /dev/null
         GPU_SUPPORTED=$?
-        echo "this file contains the gegerated result of testing the docker --gpu setting, 0=enabled, 1=disabled" > $GPUS_SETTINGS_FILE
+        echo "this file contains the generated result of testing the docker --gpu setting, 0=enabled, 1=disabled" > $GPUS_SETTINGS_FILE
         echo $GPU_SUPPORTED >> $GPUS_SETTINGS_FILE        
     fi
     HAS_GPU_SUPPORT=$(tail -n1 $GPUS_SETTINGS_FILE)

exec.bash

@@ -32,6 +32,7 @@ fi
 if [ "$EXECMODE" == "base" ]; then
     # DOCKER_REGISTRY and WORKSPACE_DEVEL_IMAGE from settings.bash
     IMAGE_NAME=${BASE_REGISTRY:+${BASE_REGISTRY}/}$WORKSPACE_BASE_IMAGE
+    [ "$ARCH" != "x86_64" ] && export IMAGE_NAME=$(dirname $IMAGE_NAME)/$ARCH/$(basename $IMAGE_NAME)
     HOST_WORKSPACE=$(pwd)
     mkdir -p $HOST_WORKSPACE/workspace
     mkdir -p $HOST_WORKSPACE/home
@@ -45,6 +46,7 @@ fi
 if [ "$EXECMODE" = "devel" ]; then
     # DOCKER_REGISTRY and WORKSPACE_DEVEL_IMAGE from settings.bash
     IMAGE_NAME=${DEVEL_REGISTRY:+${DEVEL_REGISTRY}/}$WORKSPACE_DEVEL_IMAGE
+    [ "$ARCH" != "x86_64" ] && export IMAGE_NAME=$(dirname $IMAGE_NAME)/$ARCH/$(basename $IMAGE_NAME)
     HOST_WORKSPACE=$(pwd)
     #in case the devel image is pulled, we need the create the folders here
     mkdir -p $HOST_WORKSPACE/workspace
@@ -58,6 +60,7 @@ fi
 if [ "$EXECMODE" == "release" ]; then
     # DOCKER_REGISTRY and WORKSPACE_DEVEL_IMAGE from settings.bash
     IMAGE_NAME=${RELEASE_REGISTRY:+${RELEASE_REGISTRY}/}$WORKSPACE_RELEASE_IMAGE
+    [ "$ARCH" != "x86_64" ] && export IMAGE_NAME=$(dirname $IMAGE_NAME)/$ARCH/$(basename $IMAGE_NAME)
 fi
 
 if [ "$DOCKER_REGISTRY_AUTOPULL" = true ]; then

image_setup/01_base_images/Dockerfile

@@ -14,16 +14,15 @@ ENV DEBIAN_FRONTEND=noninteractive
 
 # general requirements
 RUN apt-get update && apt-get install -y \
-    build-essential \
     apt-utils \
-    git \
-    wget \
-    cmake \
-    sudo \
+    build-essential \
     cmake \
+    git \
+    locales \
     python3 \
     python3-dev \
-    locales
+    sudo \
+    wget 
 
 RUN locale-gen en_US.UTF-8
 ENV LANG en_US.UTF-8  
@@ -39,13 +38,13 @@ RUN /opt/install.bash ${INSTALL_ARGS}
 
 ADD init_user_id.bash /opt/init_user_id.bash
 
-# create user (usermod -u UID username will be used later to maybe adapt UID on fitst start).
+# create user (usermod -u UID username will be used later to maybe adapt UID on first start).
 # using salted password: openssl passwd -1 -salt xyz  yourpass    # pw UserRos
 # RUN useradd -m -U -p '$1$xyz$pzVfEx0ZWLPizymvlx2P70' -G sudo,users rosuser
 RUN groupadd devel-group
 RUN useradd --shell /bin/bash -c "development user" -m -G devel-group devel
 
-# set user sudoers previlege for start script (w/o password), the /opt/init_user_id.bash script
+# set user sudoers privilege for start script (w/o password), the /opt/init_user_id.bash script
 # is using NUID and NGID environment variables, but ist executed by the user using sudo, so these vars have to be kept
 RUN echo "devel ALL=(ALL) NOPASSWD: ALL \
     \nDefaults        env_keep += \"NUID\" \

image_setup/01_base_images/arm32v7/install_ros_dependencies.bash

@@ -0,0 +1,28 @@
+#!/bin/bash
+
+#install ROS melodic (second install because needs gnupg)
+export DEBIAN_FRONTEND=noninteractive
+
+DISTRO=${1:-melodic}
+[ $DISTRO == "noetic" ] && export vPYTHON=3
+
+apt-get update && apt-get install -y \
+    lsb-release \
+    gnupg2 \
+    gosu \
+    ruby \
+    ruby-dev \
+    python$vPYTHON
+
+sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
+apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
+apt-get update && apt-get install -y \
+    ros-desktop \
+    python$vPYTHON-catkin-pkg \
+    python$vPYTHON-rosdep2 \
+    python$vPYTHON-rosinstall \
+    python$vPYTHON-rosinstall-generator \
+    python$vPYTHON-wstool
+
+
+#rosdep init && rosdep update

image_setup/01_base_images/arm32v7/install_ros_minimal_dependencies.bash

@@ -0,0 +1,30 @@
+#!/bin/bash
+
+#install ROS melodic (second install because needs gnupg)
+export DEBIAN_FRONTEND=noninteractive
+
+DISTRO=${1:-melodic}
+[ $DISTRO == "noetic" ] && export vPYTHON=3
+
+apt-get update && apt-get install -y \
+    lsb-release \
+    gnupg2 \
+    gosu \
+    ruby \
+    ruby-dev \
+    python$vPYTHON
+
+sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
+apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
+apt-get update && apt-get install -y \
+    ros-base \
+    python$vPYTHON-catkin-pkg \
+    python$vPYTHON-rosdep2 \
+    python$vPYTHON-rosinstall \
+    python$vPYTHON-rosinstall-generator \
+    python$vPYTHON-wstool
+
+
+#rosdep init && rosdep update
+
+

image_setup/01_base_images/arm64v8/install_ros_dependencies.bash

@@ -0,0 +1,28 @@
+#!/bin/bash
+
+#install ROS melodic (second install because needs gnupg)
+export DEBIAN_FRONTEND=noninteractive
+
+DISTRO=${1:-melodic}
+[ $DISTRO == "noetic" ] && export vPYTHON=3
+
+apt-get update && apt-get install -y \
+    lsb-release \
+    gnupg2 \
+    gosu \
+    ruby \
+    ruby-dev \
+    python$vPYTHON
+
+sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
+apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
+apt-get update && apt-get install -y \
+    ros-desktop \
+    python$vPYTHON-catkin-pkg \
+    python$vPYTHON-rosdep2 \
+    python$vPYTHON-rosinstall \
+    python$vPYTHON-rosinstall-generator \
+    python$vPYTHON-wstool
+
+
+#rosdep init && rosdep update

image_setup/01_base_images/arm64v8/install_ros_minimal_dependencies.bash

@@ -0,0 +1,30 @@
+#!/bin/bash
+
+#install ROS melodic (second install because needs gnupg)
+export DEBIAN_FRONTEND=noninteractive
+
+DISTRO=${1:-melodic}
+[ $DISTRO == "noetic" ] && export vPYTHON=3
+
+apt-get update && apt-get install -y \
+    lsb-release \
+    gnupg2 \
+    gosu \
+    ruby \
+    ruby-dev \
+    python$vPYTHON
+
+sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
+apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
+apt-get update && apt-get install -y \
+    ros-base \
+    python$vPYTHON-catkin-pkg \
+    python$vPYTHON-rosdep2 \
+    python$vPYTHON-rosinstall \
+    python$vPYTHON-rosinstall-generator \
+    python$vPYTHON-wstool
+
+
+#rosdep init && rosdep update
+
+

image_setup/01_base_images/build_plain_18.04.bash

@@ -1,16 +1,30 @@
 #!/bin/bash
 
 . ../../settings.bash
-export IMAGE_NAME=${BASE_REGISTRY:+${BASE_REGISTRY}/}developmentimage/plain_18.04
 
-export BASE_IMAGE=nvidia/opengl:1.0-glvnd-devel-ubuntu18.04
+# manage base image name depending on selected $ARCH in settings.bash
+if [ $ARCH == "x86_64" ]; then
+    export BASE_IMAGE=nvidia/opengl:1.0-glvnd-devel-ubuntu18.04
+    echo "Building for x86_64 processor. Using $BASE_IMAGE as base image."
+elif [ $ARCH == "arm64v8" ]; then
+    export BASE_IMAGE=arm64v8/ubuntu:bionic
+    echo "Building for arm64v8 processor. Using $BASE_IMAGE as base image."
+elif [ $ARCH == "arm32v7" ]; then
+    export BASE_IMAGE=arm32v7/ubuntu:bionic
+    echo "Building for arm32v7 processor. Using $BASE_IMAGE as base image."
+else
+    echo -e "[ERROR] The processor architecture you selected ($ARCH) is not supported." && exit 1
+fi
+
+export IMAGE_NAME=${BASE_REGISTRY:+${BASE_REGISTRY}/}developmentimage/plain_18.04
 export INSTALL_SCRIPT=install_plain_dependencies.bash
+[ "$ARCH" != "x86_64" ] && export IMAGE_NAME=$(dirname $IMAGE_NAME)/$ARCH/$(basename $IMAGE_NAME)
+[ "$ARCH" != "x86_64" ] && export INSTALL_SCRIPT=$ARCH/$INSTALL_SCRIPT
 
 docker pull $BASE_IMAGE
 docker build --no-cache -f Dockerfile -t $IMAGE_NAME:base --build-arg BASE_IMAGE --build-arg INSTALL_SCRIPT .
 
 
-
 echo
 echo "don't forget to push the image if you wish:"
 echo "docker push $IMAGE_NAME:base"

image_setup/01_base_images/build_plain_20.04.bash

@@ -1,16 +1,30 @@
 #!/bin/bash
 
 . ../../settings.bash
-export IMAGE_NAME=${BASE_REGISTRY:+${BASE_REGISTRY}/}developmentimage/plain_20.04
 
-export BASE_IMAGE=nvidia/opengl:1.0-glvnd-devel-ubuntu20.04
+# manage base image name depending on selected $ARCH in settings.bash
+if [ $ARCH == "x86_64" ]; then
+    export BASE_IMAGE=nvidia/opengl:1.0-glvnd-devel-ubuntu20.04
+    echo "Building for x86_64 processor. Using $BASE_IMAGE as base image."
+elif [ $ARCH == "arm64v8" ]; then
+    export BASE_IMAGE=arm64v8/ubuntu:focal
+    echo "Building for arm64v8 processor. Using $BASE_IMAGE as base image."
+elif [ $ARCH == "arm32v7" ]; then
+    export BASE_IMAGE=arm32v7/ubuntu:focal
+    echo "Building for arm32v7 processor. Using $BASE_IMAGE as base image."
+else
+    echo -e "[ERROR] The processor architecture you selected ($ARCH) is not supported." && exit 1
+fi
+
+export IMAGE_NAME=${BASE_REGISTRY:+${BASE_REGISTRY}/}developmentimage/plain_20.04
 export INSTALL_SCRIPT=install_plain_dependencies.bash
+[ "$ARCH" != "x86_64" ] && export IMAGE_NAME=$(dirname $IMAGE_NAME)/$ARCH/$(basename $IMAGE_NAME)
+[ "$ARCH" != "x86_64" ] && export INSTALL_SCRIPT=$ARCH/$INSTALL_SCRIPT
 
 docker pull $BASE_IMAGE
 docker build --no-cache -f Dockerfile -t $IMAGE_NAME:base --build-arg BASE_IMAGE --build-arg INSTALL_SCRIPT .
 
 
-
 echo
 echo "don't forget to push the image if you wish:"
 echo "docker push $IMAGE_NAME:base"

image_setup/01_base_images/build_rock_master_16.04.bash

@@ -1,16 +1,24 @@
 #!/bin/bash
 
 . ../../settings.bash
-export IMAGE_NAME=${BASE_REGISTRY:+${BASE_REGISTRY}/}developmentimage/rock_master_16.04
 
-export BASE_IMAGE=nvidia/opengl:1.0-glvnd-devel-ubuntu16.04
+# manage base image name depending on selected $ARCH in settings.bash
+if [ $ARCH == "x86_64" ]; then
+    export BASE_IMAGE=nvidia/opengl:1.0-glvnd-devel-ubuntu16.04
+    echo "Building for x86_64 processor. Using $BASE_IMAGE as base image."
+else
+    echo -e "[ERROR] The processor architecture you selected ($ARCH) is not supported." && exit 1
+fi
+
+export IMAGE_NAME=${BASE_REGISTRY:+${BASE_REGISTRY}/}developmentimage/rock_master_16.04
 export INSTALL_SCRIPT=install_rock_dependencies.bash
+[ "$ARCH" != "x86_64" ] && export IMAGE_NAME=$(dirname $IMAGE_NAME)/$ARCH/$(basename $IMAGE_NAME)
+[ "$ARCH" != "x86_64" ] && export INSTALL_SCRIPT=$ARCH/$INSTALL_SCRIPT
 
 docker pull $BASE_IMAGE
 docker build --no-cache -f Dockerfile -t $IMAGE_NAME:base --build-arg BASE_IMAGE --build-arg INSTALL_SCRIPT .
 
 
-
 echo
 echo "don't forget to push the image if you wish:"
 echo "docker push $IMAGE_NAME:base"

image_setup/01_base_images/build_rock_master_18.04.bash

@@ -1,16 +1,24 @@
 #!/bin/bash
 
 . ../../settings.bash
-export IMAGE_NAME=${BASE_REGISTRY:+${BASE_REGISTRY}/}developmentimage/rock_master_18.04
 
-export BASE_IMAGE=nvidia/opengl:1.0-glvnd-devel-ubuntu18.04
+# manage base image name depending on selected $ARCH in settings.bash
+if [ $ARCH == "x86_64" ]; then
+    export BASE_IMAGE=nvidia/opengl:1.0-glvnd-devel-ubuntu18.04
+    echo "Building for x86_64 processor. Using $BASE_IMAGE as base image."
+else
+    echo -e "[ERROR] The processor architecture you selected ($ARCH) is not supported." && exit 1
+fi
+
+export IMAGE_NAME=${BASE_REGISTRY:+${BASE_REGISTRY}/}developmentimage/rock_master_18.04
 export INSTALL_SCRIPT=install_rock_dependencies.bash
+[ "$ARCH" != "x86_64" ] && export IMAGE_NAME=$(dirname $IMAGE_NAME)/$ARCH/$(basename $IMAGE_NAME)
+[ "$ARCH" != "x86_64" ] && export INSTALL_SCRIPT=$ARCH/$INSTALL_SCRIPT
 
 docker pull $BASE_IMAGE
 docker build --no-cache -f Dockerfile -t $IMAGE_NAME:base --build-arg BASE_IMAGE --build-arg INSTALL_SCRIPT .
 
 
-
 echo
 echo "don't forget to push the image if you wish:"
 echo "docker push $IMAGE_NAME:base"

image_setup/01_base_images/build_ros_melodic_18.04.bash

@@ -1,18 +1,25 @@
 #!/bin/bash
 
 . ../../settings.bash
-export IMAGE_NAME=${BASE_REGISTRY:+${BASE_REGISTRY}/}developmentimage/ros_melodic_18.04
 
-export BASE_IMAGE=nvidia/opengl:1.0-glvnd-devel-ubuntu18.04
+# manage base image name depending on selected $ARCH in settings.bash
+if [ $ARCH == "x86_64" ]; then
+    export BASE_IMAGE=nvidia/opengl:1.0-glvnd-devel-ubuntu18.04
+    echo "Building for x86_64 processor. Using $BASE_IMAGE as base image."
+else
+    echo -e "[ERROR] The processor architecture you selected ($ARCH) is not supported." && exit 1
+fi
+
+export IMAGE_NAME=${BASE_REGISTRY:+${BASE_REGISTRY}/}developmentimage/ros_melodic_18.04
 export INSTALL_SCRIPT=install_ros_dependencies.bash
+[ "$ARCH" != "x86_64" ] && export IMAGE_NAME=$(dirname $IMAGE_NAME)/$ARCH/$(basename $IMAGE_NAME)
+[ "$ARCH" != "x86_64" ] && export INSTALL_SCRIPT=$ARCH/$INSTALL_SCRIPT
 
 docker pull $BASE_IMAGE
 docker build --no-cache -f Dockerfile -t $IMAGE_NAME:base --build-arg BASE_IMAGE --build-arg INSTALL_SCRIPT .
 
 
-
 echo
 echo "don't forget to push the image if you wish:"
 echo "docker push $IMAGE_NAME:base"
 echo
-

image_setup/01_base_images/build_ros_melodic_18.04_minimal.bash

@@ -1,18 +1,25 @@
 #!/bin/bash
 
 . ../../settings.bash
-export IMAGE_NAME=${BASE_REGISTRY:+${BASE_REGISTRY}/}developmentimage/ros_melodic_18.04_minimal
 
-export BASE_IMAGE=nvidia/opengl:1.0-glvnd-devel-ubuntu18.04
+# manage base image name depending on selected $ARCH in settings.bash
+if [ $ARCH == "x86_64" ]; then
+    export BASE_IMAGE=nvidia/opengl:1.0-glvnd-devel-ubuntu18.04
+    echo "Building for x86_64 processor. Using $BASE_IMAGE as base image."
+else
+    echo -e "[ERROR] The processor architecture you selected ($ARCH) is not supported." && exit 1
+fi
+
+export IMAGE_NAME=${BASE_REGISTRY:+${BASE_REGISTRY}/}developmentimage/ros_melodic_18.04_minimal
 export INSTALL_SCRIPT=install_ros_minimal_dependencies.bash
+[ "$ARCH" != "x86_64" ] && export IMAGE_NAME=$(dirname $IMAGE_NAME)/$ARCH/$(basename $IMAGE_NAME)
+[ "$ARCH" != "x86_64" ] && export INSTALL_SCRIPT=$ARCH/$INSTALL_SCRIPT
 
 docker pull $BASE_IMAGE
 docker build --no-cache -f Dockerfile -t $IMAGE_NAME:base --build-arg BASE_IMAGE --build-arg INSTALL_SCRIPT .
 
 
-
 echo
 echo "don't forget to push the image if you wish:"
 echo "docker push $IMAGE_NAME:base"
 echo
-