Overhaul dev container (#61)

* Rework base image starting from OMPL's dockerfile

* Create build script and remove ompl user

* Use method of installing libspot that isn't deprecated

* Clean up apt at the end

* Start from ros humble base image

* Reorganize dockerfile

* Properly label and tag image

* Add options for building multiple archs

* Shorten ompl git commit hash

* Update dev image accordingly

* Rename dev dockerfile

* Clone ompl in dockerfile instead of script

* Delete all documentation from this repo

* Update dev container accordingly

* Comment out network_systems to pass CI

* Update environment variable

* Use WORKDIR for more commands

* Only symlink compile_commands.json if it exists

* Reformating dockerfiles, which includes making indents 4 spaces

* Source overlay in bashrc

* Fix location of WORKDIR /ompl

* Remove duplicate packages

* network systems updates for v2

Make sure to change the network_systems branch to v2-updates in
src/new_projects.repos

* Separate ament linters and clang-tidy

* Test network_systems v2-updates branch

* Update job name and file paths

* Simplify disabling VCS

* Move disabling vcs to ros package repo ci

Co-authored-by: hhenry01 <[email protected]>

.clang-tidy

@@ -14,6 +14,7 @@ Checks: "
     -clang-analyzer-optin*,
     -clang-analyzer-osx*,
     -google-objc*,
+    -readability-function-cognitive-complexity,
 "
 
 WarningsAsErrors: "*, -google-readability-todo"

.devcontainer/.dockerignore

@@ -1,3 +1 @@
-README.md
-config/README.md
 config/sailbot_workspace.code-workspace

.devcontainer/Dockerfile

@@ -1,26 +1,26 @@
-FROM ghcr.io/ubcsailbot/sailbot_workspace/dev:cppworkspace
+FROM ghcr.io/ubcsailbot/sailbot_workspace/dev:ros_humble-ompl_d8375d8-amd64
 
-## Uncomment this section to install the packages used in the ROS 2 tutorials
+# # Uncomment this section to install the apt packages used in the ROS 2 tutorials
 # ENV DEBIAN_FRONTEND=noninteractive
-# RUN apt-get update \
-#  && apt-get -y install --no-install-recommends \
-#  # Your package list here
-#  ros-eloquent-turtlesim \
-#  # Clean up
-#  && apt-get autoremove -y \
-#  && apt-get clean -y \
-#  && rm -rf /var/lib/apt/lists/*
+# RUN apt-get update && \
+#     apt-get install -y \
+#         # Your package list here
+#         ros-humble-turtlesim \
+#     # Clean up
+#     && apt-get autoremove -y && \
+#     apt-get clean -y && \
+#     rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
 # ENV DEBIAN_FRONTEND=
 
-## Uncomment this section to install additional packages
+# # Uncomment this section to install additional apt packages
 # ENV DEBIAN_FRONTEND=noninteractive
-# RUN apt-get update \
-#  && apt-get -y install --no-install-recommends \
-#  # Your package list here
-#  # Clean up
-#  && apt-get autoremove -y \
-#  && apt-get clean -y \
-#  && rm -rf /var/lib/apt/lists/*
+# RUN apt-get update && \
+#     apt-get install -y \
+#         # Your package list here
+#     # Clean up
+#     && apt-get autoremove -y && \
+#     apt-get clean -y && \
+#     rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
 # ENV DEBIAN_FRONTEND=
 
 # Copy configuration files (e.g., .vimrc) from config/ to the container's home directory

.devcontainer/base/base.Dockerfile

@@ -0,0 +1,138 @@
+FROM ubuntu:22.04 AS ompl
+
+ENV DEBIAN_FRONTEND=noninteractive
+RUN apt-get update && \
+    apt-get install -y git && \
+    apt-get autoremove -y && \
+    apt-get clean -y && \
+    rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
+RUN git clone https://github.com/ompl/ompl.git
+WORKDIR /ompl
+RUN git reset --hard d8375d8
+
+# From https://github.com/athackst/dockerfiles/blob/32a872348af0ad25ec4a6e6184cb803357acb6ab/ros2/humble.Dockerfile
+FROM ubuntu:22.04 AS base
+
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Install language
+RUN apt-get update && apt-get install -y \
+    locales \
+    && locale-gen en_US.UTF-8 \
+    && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 \
+    && rm -rf /var/lib/apt/lists/*
+ENV LANG en_US.UTF-8
+
+# Install timezone
+RUN ln -fs /usr/share/zoneinfo/UTC /etc/localtime \
+    && export DEBIAN_FRONTEND=noninteractive \
+    && apt-get update \
+    && apt-get install -y tzdata \
+    && dpkg-reconfigure --frontend noninteractive tzdata \
+    && rm -rf /var/lib/apt/lists/*
+
+# Install ROS2
+RUN apt-get update && apt-get install -y \
+        curl \
+        gnupg2 \
+        lsb-release \
+        sudo \
+    && 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 $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null \
+    && apt-get update && apt-get install -y \
+        ros-humble-ros-base \
+        python3-argcomplete \
+    && rm -rf /var/lib/apt/lists/*
+
+ENV ROS_DISTRO=humble
+ENV AMENT_PREFIX_PATH=/opt/ros/humble
+ENV COLCON_PREFIX_PATH=/opt/ros/humble
+ENV LD_LIBRARY_PATH=/opt/ros/humble/lib
+ENV PATH=/opt/ros/humble/bin:$PATH
+ENV PYTHONPATH=/opt/ros/humble/lib/python3.10/site-packages
+ENV ROS_PYTHON_VERSION=3
+ENV ROS_VERSION=2
+ENV DEBIAN_FRONTEND=
+
+# Based on https://github.com/ompl/ompl/blob/d8375d842a7f016d64f27a81d6f95eaa83fbe595/scripts/docker/ompl.Dockerfile
+FROM base AS builder
+# avoid interactive configuration dialog from tzdata, which gets pulled in
+# as a dependency
+ENV DEBIAN_FRONTEND=noninteractive
+RUN apt-get update && \
+    apt-get install -y software-properties-common && \
+    add-apt-repository ppa:asiffer/libspot && \
+    apt-get update && \
+    apt-get install -y \
+        build-essential \
+        castxml \
+        cmake \
+        libboost-filesystem-dev \
+        libboost-numpy-dev \
+        libboost-program-options-dev \
+        libboost-python-dev \
+        libboost-serialization-dev \
+        libboost-system-dev \
+        libboost-test-dev \
+        libeigen3-dev \
+        libexpat1 \
+        libflann-dev \
+        libode-dev \
+        libspot-dev \
+        libtriangle-dev \
+        ninja-build \
+        pkg-config \
+        python3-dev \
+        python3-numpy \
+        python3-pip \
+        pypy3 \
+        wget && \
+    apt-get autoremove -y && \
+    apt-get clean -y && \
+    rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
+RUN pip3 install pygccxml pyplusplus
+COPY --from=ompl /ompl /ompl
+WORKDIR /build
+RUN cmake \
+        -DPYTHON_EXEC=/usr/bin/python3 \
+        -DOMPL_REGISTRATION=OFF \
+        -DCMAKE_INSTALL_PREFIX=/usr \
+        -G Ninja \
+        /ompl && \
+    ninja update_bindings -j `nproc` && \
+    ninja -j `nproc` && \
+    ninja install
+
+FROM base
+ENV DEBIAN_FRONTEND=noninteractive
+RUN apt-get update && \
+    apt-get install -y software-properties-common && \
+    add-apt-repository ppa:asiffer/libspot && \
+    apt-get update && \
+    apt-get install -y \
+        build-essential \
+        cmake \
+        libboost-filesystem-dev \
+        libboost-numpy-dev \
+        libboost-program-options-dev \
+        libboost-python-dev \
+        libboost-serialization-dev \
+        libboost-system-dev \
+        libeigen3-dev \
+        libflann-dev \
+        libode-dev \
+        libspot-dev \
+        libtriangle-dev \
+        ninja-build \
+        pkg-config \
+        python3-dev \
+        python3-numpy \
+        python3-pip \
+        wget && \
+    apt-get autoremove -y && \
+    apt-get clean -y && \
+    rm -rf /var/lib/apt/lists/{apt,dpkg,cache,log} /tmp/* /var/tmp/*
+
+COPY --from=builder /usr /usr
+
+LABEL org.opencontainers.image.source https://github.com/UBCSailbot/sailbot_workspace

.devcontainer/base/build-base.sh

@@ -0,0 +1,21 @@
+#!/bin/bash
+
+docker build . \
+    --file base.Dockerfile \
+    --tag ghcr.io/ubcsailbot/sailbot_workspace/base:ros_humble-ompl_d8375d8-amd64 \
+    --build-arg ARCH=amd64/
+
+# docker build . \
+#     --file base.Dockerfile \
+#     --tag ghcr.io/ubcsailbot/sailbot_workspace/base:ros_humble-ompl_d8375d8-arm64v8 \
+#     --build-arg ARCH=arm64v8/
+
+# docker buildx build . \
+#     --file base.Dockerfile
+#     --tag ghcr.io/ubcsailbot/sailbot_workspace/base:ros_humble-ompl_d8375d8 \
+#     --platform linux/arm64/v8,linux/amd64 \
+#     # --push
+
+# docker manifest create ghcr.io/ubcsailbot/sailbot_workspace/base:ros_humble-ompl_d8375d8-latest \
+#     --amend ghcr.io/ubcsailbot/sailbot_workspace/base:ros_humble-ompl_d8375d8-amd64 \
+#     --amend ghcr.io/ubcsailbot/sailbot_workspace/base:ros_humble-ompl_d8375d8-arm64v8