Merge branch 'space-ros:main' into add_space_nav2

moveit2/Dockerfile

@@ -46,12 +46,20 @@ RUN mkdir ${SPACEROS_DIR}/src \
 ENV MOVEIT2_DIR=${HOME_DIR}/moveit2
 
 # Make sure the latest versions of packages are installed
-RUN sudo apt-get update
-RUN sudo apt-get dist-upgrade -y
+# Using Docker BuildKit cache mounts for /var/cache/apt and /var/lib/apt ensures that
+# the cache won't make it into the built image but will be maintained between steps.
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt-get update
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt-get dist-upgrade -y
 RUN rosdep update
 
 # Install the various build and test tools
-RUN sudo apt install -y \
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt install -y \
   build-essential \
   clang-format \
   cmake \
@@ -92,7 +100,9 @@ RUN cd ${MOVEIT2_DIR}/src \
 RUN sudo chown -R ${USERNAME}:${USERNAME} ${MOVEIT2_DIR}
 
 # Get rosinstall_generator
-RUN sudo apt-get update -y && sudo apt-get install -y python3-rosinstall-generator
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt-get update -y && sudo apt-get install -y python3-rosinstall-generator
 
 # Generate repos file for moveit2 dependencies, excluding packages from Space ROS core.
 COPY --chown=${USERNAME}:${USERNAME} moveit2-pkgs.txt /tmp/
@@ -116,7 +126,9 @@ RUN vcs import src < /tmp/moveit2_tutorials.repos
 RUN sudo chown -R ${USERNAME}:${USERNAME} ${MOVEIT2_DIR}
 
 # Install system dependencies
-RUN /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash' \
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash' \
  && rosdep install --from-paths ../spaceros/src src --ignore-src --rosdistro ${ROSDISTRO} -r -y --skip-keys "console_bridge generate_parameter_library fastcdr fastrtps rti-connext-dds-5.3.1 urdfdom_headers rmw_connextdds ros_testing rmw_connextdds rmw_fastrtps_cpp rmw_fastrtps_dynamic_cpp composition demo_nodes_py lifecycle rosidl_typesupport_fastrtps_cpp rosidl_typesupport_fastrtps_c ikos diagnostic_aggregator diagnostic_updater joy qt_gui rqt_gui rqt_gui_py"
 
 # Apply a patch to octomap_msgs to work around a build issue
@@ -125,10 +137,12 @@ RUN cd src/octomap_msgs && git apply octomap_fix.diff
 
 # Build MoveIt2
 RUN /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash \
-  && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON --event-handlers desktop_notification- status- --parallel-workers 1'
+  && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON --event-handlers desktop_notification- status-'
 
 # Add a couple sample GUI apps for testing
-RUN sudo apt-get install -y \
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt-get install -y \
   firefox \
   glmark2 \
   libcanberra-gtk3-0 \

moveit2/README.md

@@ -1,13 +1,14 @@
 # MoveIt2 Docker Image
 
-The MoveIt2 Docker image uses the Space ROS docker image (*openrobotics/spaceros:latest*) as its base image. The MoveIt2 Dockerfile installs all of the prerequisite system dependencies to build MoveIt2 (and Moveit2 tutorials) and then pulls and builds the latest MoveIt2 and Moveit2 tutorials source code.
+The MoveIt2 Docker image uses the Space ROS docker image (*openrobotics/spaceros:latest*) as its base image.
+The MoveIt2 Dockerfile installs all of the prerequisite system dependencies to build MoveIt2 (and Moveit2 tutorials) and then pulls and builds the latest MoveIt2 and Moveit2 tutorials source code.
 
 ## Building the MoveIt2 Image
 
 To build the docker image, run:
 
-```
-$ ./build.sh
+```bash
+./build.sh
 ```
 
 The build process will take about 30 minutes, depending on the host computer.
@@ -16,8 +17,8 @@ The build process will take about 30 minutes, depending on the host computer.
 
 After building the image, you can see the newly-built image by running:
 
-```
-$ docker image list
+```bash
+docker image list
 ```
 
 The output will look something like this:
@@ -33,11 +34,12 @@ The new image is named **openrobotics/moveit2:latest**.
 
 There is a run.sh script provided for convenience that will run the spaceros image in a container.
 
-```
-$ ./run.sh
+```bash
+./run.sh
 ```
 
-Upon startup, the container automatically runs the entrypoint.sh script, which sources the MoveIt2 and Space ROS environment files. You'll now be running inside the container and should see a prompt similar to this:
+Upon startup, the container automatically runs the entrypoint.sh script, which sources the MoveIt2 and Space ROS environment files.
+You'll now be running inside the container and should see a prompt similar to this:
 
 ```
 spaceros-user@8e73b41a4e16:~/moveit2#
@@ -47,24 +49,28 @@ spaceros-user@8e73b41a4e16:~/moveit2#
 
 Run the following command to launch the MoveIt2 tutorials demo launch file:
 
-```
+```bash
 ros2 launch moveit2_tutorials demo.launch.py rviz_tutorial:=true
 ```
 
 You should see lots of console output and the rviz2 window appear:
 
 ![rviz2 tutorial window](resources/moveit2-rviz-tutorial.png)
 
-You can now following the [MoveIt2 Tutorial documentation](https://moveit.picknik.ai/main/doc/tutorials/quickstart_in_rviz/quickstart_in_rviz_tutorial.html).
+You can now follow the [MoveIt2 Tutorial documentation](https://moveit.picknik.ai/main/doc/tutorials/quickstart_in_rviz/quickstart_in_rviz_tutorial.html).
 
 ## Running the MoveIt2 Move Group C++ Interface Demo
 
 To run the Move Group C++ Interface Demo, execute the following command:
 
-```
+```bash
 ros2 launch moveit2_tutorials move_group.launch.py
 ```
 
 ![rviz2 move group window](resources/moveit2-rviz.png)
 
 Then, you can follow the [Move Group C++ Interface Demo documentation](https://moveit.picknik.ai/humble/doc/examples/move_group_interface/move_group_interface_tutorial.html).
+
+## Running the Space ROS Space Robots Demos
+
+Once you have tested that MoveIt2 works, you are ready to run some of the other [Space ROS space robot demos](../space_robots/README.md).

renode_rcc/Dockerfile

@@ -2,7 +2,11 @@ FROM ubuntu:20.04
 WORKDIR /root
 ENV DEBIAN_FRONTEND noninteractive
 
-RUN apt-get update -y && \
+# Using Docker BuildKit cache mounts for /var/cache/apt and /var/lib/apt ensures that
+# the cache won't make it into the built image but will be maintained between steps.
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,target=/var/lib/apt,sharing=locked \
+    apt-get update -y && \
     apt-get install -y automake \
     autoconf \
     ca-certificates \
@@ -18,7 +22,9 @@ RUN apt-get update -y && \
 ARG RENODE_VERSION=1.13.0
 
 USER root
-RUN wget https://github.com/renode/renode/releases/download/v${RENODE_VERSION}/renode_${RENODE_VERSION}_amd64.deb && \
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,target=/var/lib/apt,sharing=locked \
+    wget https://github.com/renode/renode/releases/download/v${RENODE_VERSION}/renode_${RENODE_VERSION}_amd64.deb && \
     apt-get update && \
     apt-get install -y --no-install-recommends ./renode_${RENODE_VERSION}_amd64.deb python3-dev && \
     rm ./renode_${RENODE_VERSION}_amd64.deb

renode_rcc/README.md

@@ -1,17 +1,18 @@
 # renode-RCC
-Building [RTEMS Cross Compilation System (RCC)](https://www.gaisler.com/index.php/products/operating-systems/rtems), has a different directory structure compare to building RTEMS from source (might not be true). This will run RTEMS on leon3 in a renode simulation.
+Building [RTEMS Cross Compilation System (RCC)](https://www.gaisler.com/index.php/products/operating-systems/rtems), has a different directory structure compare to building RTEMS from source (might not be true).
+This will run RTEMS on leon3 in a renode simulation.
 
 ## Usage
 To run the simulator in docker container
-```
-$ renode
+```bash
+renode
 ```
 
 > If you face GTK protocol error then exit the container, run `xhost + local:` and restart the conatiner to allow other users (including root) run programs in the current session.
 
 
 In the renode window, run
-```
+```bash
 start
 s @renode-rtems-leon3/leon3_rtems.resc
 ```

rtems/Dockerfile

@@ -2,7 +2,11 @@ FROM ubuntu:20.04
 WORKDIR /root
 ENV DEBIAN_FRONTEND noninteractive
 
-RUN apt-get update \
+# Using Docker BuildKit cache mounts for /var/cache/apt and /var/lib/apt ensures that
+# the cache won't make it into the built image but will be maintained between steps.
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,target=/var/lib/apt,sharing=locked \
+    apt-get update \
     && apt-get install -y \
         apt-utils \
         bison \

rtems/README.md

@@ -10,16 +10,16 @@ example is an hello world example build using `sparc-rtems5-gcc` tool.
 tinyxml2 is modified to work with RTEMS build using `sparc-rtems5-gcc` tool..
 
 ## Compile
-```
-$ cd /root/tinxyxml2
-$ ./doit
+```bash
+cd /root/tinxyxml2
+./doit
 ```
 
 ## Save build artefacts
 After compiling the binaries for the target, save the binaries and test payload for later use in renode.
 
-```
-$ docker cp containerId:/root/tinyxml2/tinyxml2.o <path to spaceros_ws>/docker/renode_rcc/build/
+```bash
+docker cp containerId:/root/tinyxml2/tinyxml2.o <path to spaceros_ws>/docker/renode_rcc/build/
 
-$ docker cp containerId:/root/tinyxml2/xmltest.exe <path to spaceros_ws>/docker/renode_rcc/build/
+docker cp containerId:/root/tinyxml2/xmltest.exe <path to spaceros_ws>/docker/renode_rcc/build/
 ```

space_robots/Dockerfile

@@ -44,7 +44,11 @@ ENV GZ_VERSION fortress
 ARG DEBIAN_FRONTEND=noninteractive
 
 # Get rosinstall_generator
-RUN sudo apt-get update -y && sudo apt-get install -y python3-rosinstall-generator
+# Using Docker BuildKit cache mounts for /var/cache/apt and /var/lib/apt ensures that
+# the cache won't make it into the built image but will be maintained between steps.
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt-get update -y && sudo apt-get install -y python3-rosinstall-generator
 
 # TODO(anyone): remove demo-pkgs.txt, no packages left after exclusions
 # Generate repos file for demo dependencies, excluding packages from Space ROS core.
@@ -64,10 +68,14 @@ WORKDIR ${DEMO_DIR}
 
 
 # Install libmongoc for development
-RUN sudo apt install libmongoc-dev -y
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt-get install libmongoc-dev -y
 
 # Compile mongo cxx driver https://mongocxx.org/mongocxx-v3/installation/linux/
-RUN sudo apt install libssl-dev build-essential devscripts debian-keyring fakeroot debhelper cmake libboost-dev libsasl2-dev libicu-dev libzstd-dev doxygen -y
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt-get install libssl-dev build-essential devscripts debian-keyring fakeroot debhelper cmake libboost-dev libsasl2-dev libicu-dev libzstd-dev doxygen -y
 RUN wget https://github.com/mongodb/mongo-cxx-driver/releases/download/r3.6.7/mongo-cxx-driver-r3.6.7.tar.gz
 RUN tar -xzf mongo-cxx-driver-r3.6.7.tar.gz
 RUN cd mongo-cxx-driver-r3.6.7/build && cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local && sudo cmake --build . --target EP_mnmlstc_core && cmake --build . && sudo cmake --build . --target install
@@ -77,7 +85,9 @@ RUN cd mongo-cxx-driver-r3.6.7/build && cmake .. -DCMAKE_BUILD_TYPE=Release -DCM
 COPY --chown=${USERNAME}:${USERNAME} demo_manual_pkgs.repos /tmp/
 RUN vcs import src < /tmp/demo_manual_pkgs.repos && /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' 
 
-RUN sudo apt-get update -y \
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt-get update -y \
 && /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' \
 && /bin/bash -c 'source "${MOVEIT2_DIR}/install/setup.bash"' \
 && rosdep install --from-paths src --ignore-src -r -y --rosdistro ${ROSDISTRO}