Refactor Docker setup and CI workflows for improved build process

.devcontainer/Dockerfile

@@ -1,49 +1,44 @@
-ARG BASE_IMAGE=ros:humble
+ARG BASE_IMAGE=lcas.lincoln.ac.uk/lcas/limo_platform:2
 
 FROM ${BASE_IMAGE} as base
 
-USER root
-
-ENV DEBIAN_FRONTEND=noninteractive
+# making the standard global variables available for target-specific builds
+ARG TARGETARCH
 
-RUN apt-get update \
-    && apt-get install -qq -y --no-install-recommends \
-    git \
-    python3-pip \
-    python3-rosdep \
-    ros-humble-rviz2 \
-    ros-humble-gazebo-plugins \
-    zenoh-bridge-ros2dds
+USER root
 
 # get the source tree and analyse it for its package.xml only
 FROM base as sourcefilter
-COPY ./src /tmp/src
+RUN mkdir -p /tmp/src/
+COPY ./src/*/package.xml /tmp/src/_workspace/src/_pkgs_xmls
+COPY ./src/*/*/package.xml /tmp/src/_workspace/src/_pkgs_xmls
+COPY ./src/*/*/*/package.xml /tmp/src/_workspace/src/_pkgs_xmls
+COPY ./src/*/*/*/*/package.xml /tmp/src/_workspace/src/_pkgs_xmls
+
 # remove everything that isn't package.xml
 RUN find /tmp/src -type f \! -name "package.xml" -print | xargs rm -rf
 
 # install all dependencies listed in the package.xml
-FROM base as depbuilder
+FROM base as devcontainer
 # copy the reduced source tree (only package.xml) from previous stage
 COPY --from=sourcefilter /tmp/src /tmp/src
-RUN rosdep update && apt-get update
-RUN cd /tmp/src && rosdep install --from-paths . --ignore-src -r -y && cd && rm -rf /tmp/src
+RUN rosdep update --rosdistro=${ROS_DISTRO} && apt-get update
+RUN . /opt/ros/lcas/install/setup.sh && rosdep install --from-paths /tmp/src --ignore-src -y && rm -rf /tmp/src && apt-get clean && rm -rf /var/lib/apt/lists/* /tmp/src
 
-FROM depbuilder as final
-# add user ros with sudo rights if it doesn't exist
-RUN if ! id ros; then \
-        useradd -ms /bin/bash ros && echo "ros:ros" | chpasswd && adduser ros sudo; \
-        echo "ALL ALL=(ALL) NOPASSWD: ALL" >> /etc/sudoers; \
-        echo "source /opt/ros/humble/setup.bash" >> /etc/bash.bashrc; \
-    else echo "user ros already exists"; \
-    fi
 
-# add sudo without password
-ENV DEBIAN_FRONTEND=noninteractive
+FROM devcontainer as compiled
 
-# add commit history to bust cache if and when needed.
-ADD "https://api.github.com/repos/LCAS/limo_ros2/commits?per_page=1&sha=humble" .lcas_addons.limo_ros2.commits
+COPY ./src /opt/ros/lcas/src/workspace/src
+RUN . /opt/ros/lcas/install/setup.sh && \
+    apt update && \
+    rosdep --rosdistro=${ROS_DISTRO} update && \
+    rosdep install --from-paths /opt/ros/lcas/src/workspace/src --ignore-src -y && \
+    apt-get clean && \
+    rm -rf /var/lib/apt/lists/*
 
-COPY .devcontainer/*repos .devcontainer/*.sh /tmp/.devcontainer/
-RUN bash /tmp/.devcontainer/install.sh
+RUN cd /opt/ros/lcas && colcon build  && \
+    rm -rf /opt/ros/lcas/src/ /opt/ros/lcas/build/ /opt/ros/lcas/log/
 
-USER ros
+USER ros
+WORKDIR /home/ros
+ENV SHELL=/bin/bash

.devcontainer/cuda-opengl/devcontainer.json → .devcontainer/devcontainer.json

@@ -1,16 +1,19 @@
 // For format details, see https://aka.ms/devcontainer.json. For config options, see the
 // README at: https://github.com/devcontainers/templates/tree/main/src/ubuntu
 {
-	"name": "L-CAS Humble CUDA-OpenGL ROB2002 Devcontainer",
-	"image": "lcas.lincoln.ac.uk/devcontainer/lcas/rob2002:cuda-opengl-deployment",
-	//"build": {
-	//	"dockerfile": "../Dockerfile",
-	//	"args": {
-	//		"BASE_IMAGE": "lcas.lincoln.ac.uk/lcas/ros:jammy-humble-cuda12.2-opengl"
-	//	},
-	//	"context": "../.."
-	//},
+	"name": "L-CAS Humble Robotics Teaching Devcontainer",
+	// Use the below image to not build locally (pushed by GitHub Action)
+	// disable the "build" section below in this case
+	//"image": "lcas.lincoln.ac.uk/devcontainer/lcas/cmp9767",
+	"build": {
+		"dockerfile": "./Dockerfile",
+		"args": {
+			"BASE_IMAGE": "lcas.lincoln.ac.uk/lcas/limo_platform:2.2"
+		},
+		"context": ".."
+	},
 
+	// forward the virtual desktop port
 	"forwardPorts": [5801],
 	"portsAttributes": {
 		"5801": {
@@ -44,4 +47,4 @@
 		"cpus": 2,
 		"memory": "6gb"
 	}
-}
+}

.devcontainer/post-create.sh

@@ -1,13 +1,28 @@
 #!/bin/bash
 
-# source additional packages
+set -xe
+
+
+function add_config_if_not_exist {
+    if ! grep -F -q "$1" $HOME/.bashrc; then
+        echo "$1" >> $HOME/.bashrc
+    fi
+}
+
+add_config_if_not_exist "source /opt/ros/humble/setup.bash"
+add_config_if_not_exist "source /opt/ros/lcas/install/setup.bash"
+
+# you may add some aliases here
+#add_config_if_not_exist "alias rviz_sensors='rviz2 -d /opt/ros/lcas/install/limo_description/share/limo_description/rviz/model_sensors_real.rviz'"
+#add_config_if_not_exist "alias tidybot_sim='ros2 launch uol_tidybot tidybot.launch.py'"
+
+source /opt/ros/humble/setup.bash
 source /opt/ros/lcas/install/setup.bash
 
-# ensure students always have the latest index of everything
-sudo apt update
-rosdep --rosdistro=humble update
+colcon build --symlink-install --continue-on-error || true
+
+LOCAL_SETUP_FILE=`pwd`/install/setup.bash
+add_config_if_not_exist "if [ -r $LOCAL_SETUP_FILE ]; then source $LOCAL_SETUP_FILE; fi"
 
-# ensure the additional packages are always sources:
-if ! grep -q "source /opt/ros/lcas/install/setup.bash" ~/.bashrc; then
-    echo "source /opt/ros/lcas/install/setup.bash" >> ~/.bashrc
-fi
+sleep 10
+DISPLAY=:1 xfconf-query -c xfce4-desktop -p $(xfconf-query -c xfce4-desktop -l | grep "workspace0/last-image") -s /usr/share/backgrounds/xfce/lcas.jpg  || true

.github/workflows/container-build.yml

@@ -0,0 +1,68 @@
+
+name: Build Docker image
+
+on:
+  workflow_dispatch:
+  push:
+    branches: [ main ]
+    tags:
+      - 'v*'
+  pull_request:
+    branches: [ main ]
+
+jobs:
+  build-docker-image:
+    if: github.repository_owner == 'LCAS'
+    runs-on: 
+      - lcas
+      - qemu
+    steps:
+    - name: Node Js
+      uses: actions/setup-node@v4
+
+    - uses: actions/checkout@v3
+      with:
+        fetch-depth: 1
+        submodules: 'recursive'
+
+    - name: What
+      run: echo "BRANCH=${GITHUB_REF##*/}" >> $GITHUB_ENV
+
+    - name: Docker Login LCAS
+      uses: docker/login-action@v3
+      with:
+        registry: lcas.lincoln.ac.uk
+        username: ${{ secrets.LCAS_REGISTRY_PUSHER }}
+        password: ${{ secrets.LCAS_REGISTRY_TOKEN }}
+
+    - name: "image name from repo name"
+      id: docker_image_name
+      run: echo "docker_image=${{ github.repository }}" | tr '[:upper:]' '[:lower:]' |sed 's/[^0-9,a-z,A-Z,=,_,\/]/-/g' >>${GITHUB_OUTPUT}
+
+    - name: Docker meta
+      id: meta_public
+      uses: docker/metadata-action@v5
+      with:
+        # list of Docker images to use as base name for tags
+        images: lcas.lincoln.ac.uk/${{ steps.docker_image_name.outputs.docker_image }}
+        # generate Docker tags based on the following events/attributes
+        tags: |
+          type=raw,value=staging
+          type=ref,enable=${{ github.event_name != 'pull_request' }},event=branch
+          type=semver,pattern={{version}}
+          type=semver,pattern={{major}}.{{minor}}
+          type=semver,pattern={{major}}        
+
+    - name: Build Public Docker Image
+      uses: docker/build-push-action@v6
+      with:
+        context: .
+        file: .devcontainer/Dockerfile
+        platforms: linux/amd64,linux/arm64
+        push: true
+        cache-from: type=registry,ref=lcas.lincoln.ac.uk/cache/${{ steps.docker_image_name.outputs.docker_image }}:latest
+        cache-to: type=registry,ref=lcas.lincoln.ac.uk/cache/${{ steps.docker_image_name.outputs.docker_image }}:latest,mode=max
+        tags: ${{ steps.meta_public.outputs.tags }}
+        labels: ${{ steps.meta_public.outputs.labels }}
+        build-args: |
+            BASE_IMAGE=lcas.lincoln.ac.uk/lcas/limo_platform:2.2

.github/workflows/dev-container.yml

@@ -1,34 +1,35 @@
 name: 'devcontainer CI' 
 on:
+  workflow_dispatch:
   pull_request:
     branches:
       - main
   push:
     branches:
       - main
-    tags:
-      - '*'
-
+
 jobs:
-  build_devcontainer:
-    runs-on: ubuntu-latest
-    strategy:
-      matrix:
-        config: 
-          - cuda-opengl
+  build:
+    runs-on: lcas
     steps:
-      - name: Checkout from github
-        uses: actions/checkout@v3
-      - name: extract the github reference
+      - name: Node Js
+        uses: actions/setup-node@v4
+        with:
+          node-version: "^16.13.0 || >=18.0.0"
+      - name: Checkout (GitHub)
+        uses: actions/checkout@v4
+        with:
+          fetch-depth: 1
+          submodules: 'recursive'
+      - name: What
         run: echo "BRANCH=${GITHUB_REF##*/}" >> $GITHUB_ENV
       - name: "image name from repo name"
         id: docker_image_name
         run: echo "docker_image=${{ github.repository }}" | tr '[:upper:]' '[:lower:]' |sed 's/[^0-9,a-z,A-Z,=,_,\/]/-/g' >>${GITHUB_OUTPUT}
-      - name: Build dev container task
+      - name: Build container
         uses: devcontainers/ci@v0.3
         with:
           imageName: lcas.lincoln.ac.uk/devcontainer/${{ steps.docker_image_name.outputs.docker_image }}
-          configFile: ./.devcontainer/${{ matrix.config }}/devcontainer.json
           push: never
-          imageTag: ${{ matrix.config }}-${{ env.BRANCH }}
-          #runCmd: "bash .devcontainer/run-ci.sh"
+          imageTag: ci
+          #runCmd: "bash .devcontainer/run-ci.sh"