Extend development containers

CONTRIBUTING.md

@@ -58,6 +58,11 @@ If a related issue doesn't exist, you can [open a new issue](https://github.com/
    ```bash
    docker/run.sh --build
    ```
+   To target an specific ROS distribution, use:
+   ```bash
+   ROSDISTRO=humble docker/run.sh
+   ```
+   Supported distributions include `humble` and `rolling`.
 
 1. **[Optional]** Install pre-commit hooks. _This will probably cause you to not be able to create commits from your host machine since the hooks have dependencies that exist only in the development container._
    ```bash

docker/docker-compose.yml

@@ -3,7 +3,7 @@ services:
   dev:
     build:
       context: ..
-      dockerfile: docker/images/humble/Dockerfile
+      dockerfile: docker/images/${ROSDISTRO:-humble}/Dockerfile
     container_name: beluga-dev
     environment:
       - DISPLAY
@@ -16,7 +16,7 @@ services:
     volumes:
       - /tmp/.X11-unix:/tmp/.X11-unix:rw
       - /tmp/.docker.xauth:/tmp/.docker.xauth
-      - ..:/ws/src
+      - ..:/ws/src/beluga
       - beluga_ccache:/home/developer/.ccache
 volumes:
   beluga_ccache:

docker/images/humble/Dockerfile

@@ -7,6 +7,7 @@ RUN apt-get update \
     ccache \
     curl \
     doxygen \
+    gdb \
     git \
     linux-cloud-tools-generic \
     linux-tools-common \
@@ -15,6 +16,7 @@ RUN apt-get update \
     python3-pip \
     texlive-base \
     texlive-binaries \
+    tmux \
   && rm -rf /var/lib/apt/lists/*
 
 # Fix for the RViz black screen issue.
@@ -66,11 +68,9 @@ WORKDIR $USER_WS
 RUN colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml \
   && colcon mixin update default
 COPY --chown=$USER:$GROUP docker/files/colcon_defaults.yaml /home/$USER/.colcon/defaults.yaml
-RUN mkdir -p /home/$USER/.ccache
+RUN mkdir -p /home/$USER/.ccache $USER_WS/src
 
-COPY . $USER_WS/src
-
-RUN sudo chown -R $USER:$GROUP $USER_WS
+COPY --chown=$USER:$GROUP . $USER_WS/src/beluga
 
 RUN sudo apt-get update \
   && rosdep update \
@@ -79,4 +79,5 @@ RUN sudo apt-get update \
 
 ENV WITHIN_DEV 1
 
+ENV SHELL /bin/bash
 ENTRYPOINT ["fixuid", "-q", "/ros_entrypoint.sh", "/bin/bash"]

docker/images/rolling/Dockerfile

@@ -0,0 +1,85 @@
+FROM ros:rolling-ros-base-jammy
+
+ENV DEBIAN_FRONTEND noninteractive
+
+RUN apt-get update \
+  && apt-get install --no-install-recommends -y \
+    ccache \
+    curl \
+    doxygen \
+    gdb \
+    git \
+    linux-cloud-tools-generic \
+    linux-tools-common \
+    linux-tools-generic \
+    perl \
+    python3-pip \
+    texlive-base \
+    texlive-binaries \
+    tmux \
+  && rm -rf /var/lib/apt/lists/*
+
+# Fix for the RViz black screen issue.
+# TODO(nahuel): Remove this when the Mesa version available
+# in Ubuntu 22.04 is 22.3.5 or greater.
+# See https://github.com/ekumenlabs/beluga/issues/123
+RUN apt-get update \
+  && apt-get install --no-install-recommends -y \
+    software-properties-common \
+  && add-apt-repository -y ppa:kisak/kisak-mesa \
+  && apt-get install --no-install-recommends -y \
+    libegl-mesa0 libglx-mesa0 \
+  && rm -rf /var/lib/apt/lists/*
+
+RUN pip install \
+  evo==1.21.0 \
+  pre-commit==2.20.0 \
+  # Note: Installing timemory takes a long time.
+  timemory==3.3.0rc4
+
+# Check if perf is working, if not replace it with the perf version available
+RUN perf help || ( \
+  mv /usr/bin/perf /usr/bin/perf.bkp && \
+  ln -s $(ls -d /usr/lib/linux-tools/* | tail -n1)/perf /usr/bin/perf)
+
+ARG USER=developer
+ARG GROUP=ekumen
+
+RUN addgroup --gid 1000 $GROUP \
+  && adduser --uid 1000 --ingroup $GROUP --home /home/$USER --shell /bin/sh --disabled-password --gecos "" $USER \
+  && adduser $USER sudo \
+  && echo "$USER ALL=NOPASSWD: ALL" >> /etc/sudoers.d/$USER
+
+COPY docker/files/fixuid_config.yml /etc/fixuid/config.yml
+RUN curl -SsL https://github.com/boxboat/fixuid/releases/download/v0.4/fixuid-0.4-linux-amd64.tar.gz | tar -C /usr/local/bin -xzf - \
+  && chmod 4755 /usr/local/bin/fixuid \
+  && cd /etc/fixuid \
+  && sed -i "s/_USER_/$USER/" config.yml \
+  && sed -i "s/_GROUP_/$GROUP/" config.yml
+
+RUN cd /opt && git clone https://github.com/brendangregg/FlameGraph
+
+USER $USER:$GROUP
+
+ENV USER_WS /ws
+
+WORKDIR $USER_WS
+
+RUN colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml \
+  && colcon mixin update default
+COPY --chown=$USER:$GROUP docker/files/colcon_defaults.yaml /home/$USER/.colcon/defaults.yaml
+RUN mkdir -p /home/$USER/.ccache $USER_WS/src
+
+COPY --chown=$USER:$GROUP . $USER_WS/src/beluga
+
+RUN git -C $USER_WS/src clone https://github.com/ros-planning/navigation2.git
+
+RUN sudo apt-get update && sudo apt-get -y dist-upgrade \
+  && rosdep update \
+  && rosdep install -i --from-path src -y --skip-keys 'slam_toolbox' \
+  && sudo rm -rf /var/lib/apt/lists/*
+
+ENV WITHIN_DEV 1
+
+ENV SHELL /bin/bash
+ENTRYPOINT ["fixuid", "-q", "/ros_entrypoint.sh", "/bin/bash"]