feat: added support for docker (#514)

* feat: add dockerfile for ros2 workspace setup and colcon build

* ci: add ci pipeline for docker image build and ros2 colcon build

* refactor: dockerfile use multi-stage builds to only include necessary files

* refactor: dockerfile use smaller base image to make image size smaller

---------

Co-authored-by: Andreas Kluge Svendsrud <[email protected]>
Co-authored-by: Anders Høgden <[email protected]>

.github/workflows/ci-docker-build.yaml

@@ -0,0 +1,14 @@
+on:
+  push:
+    tags:
+      - 'v*'
+jobs:
+  docker-ros:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: ika-rwth-aachen/[email protected]
+        with:
+          base-image: rwthika/ros2:humble
+          target: dev  # Specify the dev stage
+          image-tag: ${{ github.ref_name }}
+          platform: linux/arm64,linux/amd64

.github/workflows/industrial-ci.yaml

@@ -9,5 +9,5 @@ jobs:
   call_reusable_workflow:
     uses: vortexntnu/vortex-ci/.github/workflows/reusable-industrial-ci.yml@main
     with:
-        upstream_workspace: './vortex_auv.repos'
+        upstream_workspace: './dependencies.repos'
         before_install_target_dependencies: 'cp ./requirements.sh /tmp/requirements.sh && chmod +x /tmp/requirements.sh && /tmp/requirements.sh'

.gitmodules

@@ -0,0 +1,3 @@
+[submodule "docker/docker-ros"]
+	path = docker/docker-ros
+	url = https://github.com/ika-rwth-aachen/docker-ros.git

README.md

@@ -12,6 +12,33 @@
 
 This repo contains software for operating UUVs, developed by students at NTNU. The software is based on the ROS2 Humble framework, and aims to be hardware independent. Although the main focus of Vortex is autonomous operation, this software stack supports both AUV and ROV operations.
 
+## Docker
+This project uses the (docker-ros)[https://github.com/ika-rwth-aachen/docker-ros] repository for building and managing Docker images. The docker-ros repository is included as a Git submodule and is configured to build images locally.
+
+### Prerequisites
+1. Docker must be installed on your system. Follow the instructions [here](https://docs.docker.com/get-docker/) to install Docker.
+
+### Cloning
+1. To clone this repository with the docker-ros submodule, use the following command:
+```bash
+git clone --recurse-submodules https://github.com/vortexntnu/vortex-auv.git
+```
+Alternatively, if you have already cloned the repository, run the following command to initialize the submodule:
+```bash
+git submodule update --init --recursive
+```
+2. Once added, docker-ros provide a script to build Docker images locally.
+### Building and Running
+1. Run the following command to build the Docker image:
+```bash
+./entrypoint.sh
+```
+Or, you can pull the appropriate image from (Github packages)[https://github.com/vortexntnu/vortex-auv/pkgs/container/vortex-auv]
+2. Once the image is built, run the following command to start the container:
+```bash
+docker run -it --privileged --network host --ipc=host "auv-image:latest"
+```
+NOTE: If running on MacOS, the `--network host` flag is not supported.
 
 ## Documentation
 * TODO: Drivers and hardware specifics for each drone will be added to the wiki. Link them here.

vortex_auv.repos → dependencies.repos

@@ -1,4 +1,4 @@
 repositories:
-  vortex_msgs:
+  vortex-msgs:
     type: git
     url: https://github.com/vortexntnu/vortex-msgs.git

entrypoint.sh

@@ -0,0 +1,5 @@
+IMAGE="auv-image:latest" \
+BASE_IMAGE="rwthika/ros2:humble" \
+TARGET="dev" \
+PLATFORM="linux/arm64,linux/amd64" \
+./docker/docker-ros/scripts/build.sh