Make IKOS available in the spaceros image (#99).

IKOS is one of the tools that Space ROS includes to perform static analysis of
ROS 2 applications. Although ament_ikos is provided with the docker image, IKOS
itself is not, rendering the former useless and leaving it to users to compile
and install IKOS prior to being able to use it.

This commit modifies the spaceros Earthfile to install IKOS globally in the
system.

Author: ivanperez-keera

spaceros/Earthfile

@@ -73,7 +73,6 @@ setup:
   ENV USERNAME spaceros-user
   ENV HOME_DIR=/home/${USERNAME}
   ENV SPACEROS_DIR=${HOME_DIR}/spaceros
-  ARG IKOS_DIR=${HOME_DIR}/ikos
   ENV ROSDISTRO=humble
 
   # Create a spaceros user
@@ -144,6 +143,28 @@ rosdep:
   RUN sudo rosdep init && rosdep update
   RUN rosdep install --from-paths src --ignore-src --rosdistro rolling -y --skip-keys "console_bridge 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"
 
+  RUN sudo apt-get install --yes \
+           gcc g++ cmake libgmp-dev libboost-dev libboost-filesystem-dev \
+           libboost-thread-dev libboost-test-dev \
+           libsqlite3-dev libtbb-dev libz-dev libedit-dev \
+           python3 python3-pip python3-venv \
+           llvm-14 llvm-14-dev llvm-14-tools clang-14
+
+  WORKDIR $SPACEROS_DIR
+  RUN git clone -b v3.2 --depth 1 https://github.com/NASA-SW-VnV/ikos.git
+  WORKDIR $SPACEROS_DIR/ikos
+  RUN mkdir build
+  WORKDIR $SPACEROS_DIR/ikos/build
+  RUN cmake \
+        -DCMAKE_INSTALL_PREFIX="/opt/ikos" \
+        -DCMAKE_BUILD_TYPE="Debug" \
+        -DLLVM_CONFIG_EXECUTABLE="/usr/lib/llvm-14/bin/llvm-config" \
+        ..
+  RUN make
+  RUN sudo make install
+  WORKDIR $SPACEROS_DIR
+  RUN sudo rm -rf ikos/
+
 build:
   FROM +rosdep
   RUN colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON --no-warn-unused-cli