add Dockerfile and a script.

Signed-off-by: Tomoya.Fujita <[email protected]>

docker/Dockerfile

@@ -0,0 +1,55 @@
+# Build:
+#  docker build --rm -f ./docker/Dockerfile --build-arg="ROS_DISTRO=rolling" --build-arg="COLCON_WS=/root/colcon_ws" -t <user_name>/ros2ai:rolling .
+#
+# Usage:
+#  docker pull <user_name>/ros2ai:rolling
+
+# An ARG declared before a FROM is outside of a build stage,
+# so it can’t be used in any instruction after a FROM.
+# To use the default value of an ARG declared before the first FROM
+# use an ARG instruction without a value inside of a build stage:
+ARG ROS_DISTRO=rolling
+ARG COLCON_WS=/root/colcon_ws
+
+FROM ros:${ROS_DISTRO}
+
+LABEL maintainer="Tomoya Fujita <[email protected]>"
+LABEL version="1.0"
+LABEL description="ros2ai ${ROS_DISTRO} docker image"
+
+ARG ROS_DISTRO
+ARG COLCON_WS
+
+SHELL ["/bin/bash","-c"]
+
+RUN mkdir -p ${COLCON_WS}/src
+COPY . ${COLCON_WS}/src/ros2ai/
+
+# All apt-get commands start with an update, then install
+# and finally, a cache cleanup to keep the image size small.
+
+# Install packages
+RUN apt-get update \
+    && apt-get upgrade -y \
+    && apt-get install -y \
+    # Basic utilities just in case
+    pip curl\
+    --no-install-recommends \
+    && rm -rf /var/lib/apt/lists/*
+RUN pip install openai
+
+# Build and source colcon workspace
+RUN cd $COLCON_WS \
+    && source /opt/ros/$ROS_DISTRO/setup.bash \
+    && colcon build --symlink-install --packages-select ros2ai
+
+# Add source environment in .bashrc
+RUN echo -n -e "\n" >> /root/.bashrc
+RUN echo "### ros2ai workspace setting" >> /root/.bashrc
+RUN echo "cd $COLCON_WS && source ./install/setup.bash" >> /root/.bashrc
+
+# Overwrite as environmental varialble so that entrypoint can rely on those
+# OPENAI_API_KEY should not be included here, that is required for the runtime
+ENV COLCON_WS=${COLCON_WS}
+ENV ROS_DISTRO=${ROS_DISTRO}
+#ENTRYPOINT ["/ros_entrypoint.sh"]

scripts/docker_release.sh

@@ -0,0 +1,149 @@
+#!/bin/bash
+
+#####################################################################
+# This script builds, verifies and releases ros2ai docker images.
+#####################################################################
+
+################
+# User Setting #
+################
+
+DOCKERHUB_USERNAME="${DOCKERHUB_USERNAME:-tomoyafujita}"
+COLCON_WS="${COLCON_WS:-/root/colcon_ws}"
+
+ros_distros=(
+    "humble"
+    "iron"
+    "rolling"
+)
+
+######################
+# Options (defaults) #
+######################
+
+build_image=false
+verify_image=false
+upload_image=false
+
+########################
+# Function Definitions #
+########################
+
+function print_usage() {
+    echo "Usage: $0 [-b] [-v] [-u]"
+    echo "Options(default):"
+    echo "  -b : build docker container images (default: false)"
+    echo "  -v : verify images to call ros2ai commands (default: false)"
+    echo "  -u : uploade images to DockerHub (default: false)"
+    exit 1
+}
+
+function exit_trap() {
+    if [ $? != 0 ]; then
+        echo "Command [$BASH_COMMAND] is failed"
+        exit 1
+    fi
+}
+
+function check_dockerhub_setting () {
+    trap exit_trap ERR
+    echo "[${FUNCNAME[0]}]: checking dockerhub setting and configuration."
+    if [ -z "$DOCKERHUB_USERNAME" ]; then
+        echo "DOCKERHUB_USERNAME is not set."
+        exit 1
+    fi
+    # check if docker login succeeds
+    docker login
+}
+
+function command_exist() {
+    trap exit_trap ERR
+    echo "[${FUNCNAME[0]}]: checking $1 command exists."
+    if command -v "$1" >/dev/null 2>&1; then
+        echo "$1 exists."
+        return 0
+    else
+        echo "Error: $1 not found."
+        return 1
+    fi
+}
+
+function build_images() {
+    trap exit_trap ERR
+    echo "[${FUNCNAME[0]}]: building ros2ai docker container images."
+    for distro in "${ros_distros[@]}"; do
+        echo "----- $distro image building"
+        docker build --rm -f ./docker/Dockerfile --build-arg="ROS_DISTRO=$distro" --build-arg="COLCON_WS=$COLCON_WS" -t $DOCKERHUB_USERNAME/ros2ai:$distro .
+    done
+    echo "----- all images successfully generated!!! -----"
+}
+
+function verify_images() {
+    trap exit_trap ERR
+    echo "[${FUNCNAME[0]}]: verifying ros2ai docker container images."
+    for distro in "${ros_distros[@]}"; do
+        echo "----- $distro image verifying"
+        docker run -it --rm -e OPENAI_API_KEY=$OPENAI_API_KEY $DOCKERHUB_USERNAME/ros2ai:$distro \
+            bash -c "/ros_entrypoint.sh && source /root/.bashrc && cd $COLCON_WS && source ./install/setup.bash && $COLCON_WS/src/ros2ai/scripts/verification.sh"
+    done
+    echo "----- all images successfully verified!!! -----"
+}
+
+function upload_images() {
+    trap exit_trap ERR
+    echo "[${FUNCNAME[0]}]: uploading ros2ai docker container images."
+    for distro in "${ros_distros[@]}"; do
+        echo "----- $distro image uploading"
+        # TODO@fujitatomoya: support multi-arch docker images
+        docker push $DOCKERHUB_USERNAME/ros2ai:$distro
+    done
+    echo "----- all images successfully verified!!! -----"
+}
+
+########
+# Main #
+########
+
+# set the trap on error
+trap exit_trap ERR
+
+# parse command line options
+while getopts ":bvu" opt; do
+    case $opt in
+        b)
+            build_image=true
+            ;;
+        v)
+            verify_image=true
+            ;;
+        u)
+            upload_image=true
+            ;;
+        \?)
+            echo "Invalid option: -$OPTARG"
+            print_usage
+            ;;
+    esac
+done
+shift $((OPTIND-1))
+
+# check settings
+check_dockerhub_setting
+command_exist docker
+
+# building images
+if [ "$build_image" = true ]; then
+    build_images
+fi
+
+# verifying images
+if [ "$verify_image" = true ]; then
+    verify_images
+fi
+
+# upload images
+if [ "$upload_image" = true ]; then
+    upload_images
+fi
+
+exit 0