Adds a dockerfile for webots with nuwebots and robocup environments

webots-docker/Dockerfile

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+ARG BASE_IMAGE=nvidia/cuda:11.8.0-base-ubuntu22.04
+FROM ${BASE_IMAGE} AS downloader
+
+# Determine Webots version to be used and set default argument
+ARG WEBOTS_VERSION=R2022b
+ARG WEBOTS_PACKAGE_PREFIX=
+
+# Disable dpkg/gdebi interactive dialogs
+ENV DEBIAN_FRONTEND=noninteractive
+
+RUN apt-get update && apt-get install --yes wget bzip2 && rm -rf /var/lib/apt/lists/ && \
+ wget https://github.com/cyberbotics/webots/releases/download/$WEBOTS_VERSION/webots-$WEBOTS_VERSION-x86-64$WEBOTS_PACKAGE_PREFIX.tar.bz2 && \
+ tar xjf webots-*.tar.bz2 && rm webots-*.tar.bz2
+
+FROM ${BASE_IMAGE}
+
+# Disable dpkg/gdebi interactive dialogs
+ENV DEBIAN_FRONTEND=noninteractive
+
+
+# Install Webots runtime dependencies
+RUN apt-get update && apt-get install --yes wget xvfb git python3-pip sudo && rm -rf /var/lib/apt/lists/ && \
+  wget https://raw.githubusercontent.com/cyberbotics/webots/master/scripts/install/linux_runtime_dependencies.sh && \
+  chmod +x linux_runtime_dependencies.sh && ./linux_runtime_dependencies.sh && rm ./linux_runtime_dependencies.sh
+
+# Install NUWebots dependencies
+RUN wget https://raw.githubusercontent.com/NUbots/NUWebots/main/webots-docker/dependencies.sh && \
+ chmod +x dependencies.sh && ./dependencies.sh && rm ./dependencies.sh && rm -rf /var/lib/apt/lists/
+
+# Install Webots
+WORKDIR /usr/local
+COPY --from=downloader /webots /usr/local/webots/
+ENV QTWEBENGINE_DISABLE_SANDBOX=1
+ENV WEBOTS_HOME /usr/local/webots
+ENV PATH /usr/local/webots:${PATH}
+
+# Enable OpenGL capabilities
+ENV NVIDIA_DRIVER_CAPABILITIES=graphics
+
+RUN useradd -ms /bin/bash webots && usermod -aG sudo webots && echo "webots ALL=(ALL:ALL) NOPASSWD: ALL" >> /etc/sudoers
+ENV HOME=/home/webots
+USER webots
+
+WORKDIR $HOME
+
+# Build the latest version of the RoboCup Humanoid TC fork of GameController
+RUN git clone https://github.com/RoboCup-Humanoid-TC/GameController ./GameController && cd GameController && ant
+
+# Build the robocup controllers
+RUN git clone https://github.com/RoboCup-Humanoid-TC/hlvs_webots.git ./hlvs_webots && \
+ pip3 install -r ./hlvs_webots/controllers/referee/requirements.txt && make -j$(nproc) -C ./hlvs_webots
+
+# Set environment variables for GameController
+ENV GAME_CONTROLLER_HOME=${HOME}/GameController JAVA_HOME=/usr/lib/jvm/java-11-openjdk-amd64
+
+# Install the NUbots-developed environment
+RUN git clone https://github.com/NUbots/NUWebots.git ./NUWebots && cd ./NUWebots && pip3 install -r ./requirements.txt && \
+ ./b configure -- -DENABLE_CLANG_TIDY=OFF && ./b build
+
+RUN wget https://raw.githubusercontent.com/NUbots/NUWebots/main/webots-docker/webots-config.py && \
+ wget https://raw.githubusercontent.com/NUbots/NUWebots/main/webots-docker/entrypoint.sh && \
+ chmod +x entrypoint.sh
+
+# Configure robocup game.json file based on environment variables
+ENTRYPOINT ["./entrypoint.sh"]
+CMD ["bash"]

webots-docker/dependencies.sh

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+#!/bin/bash
+apt-get update
+apt-get install -y ant cmake-curses-gui libprotobuf-dev protobuf-compiler libeigen3-dev libyaml-cpp-dev ninja-build clang-tidy python3-dev libjpeg9-dev sudo vim nano

webots-docker/entrypoint.sh

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+#!/bin/bash
+python3 docker-config.py ${HOME}/hlvs_webots/controllers/referee/game.json
+rm docker-config.py
+# Run the command given by CMD or docker run parameter, replacing current process
+exec "$@"

webots-docker/webots-config.py

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+import json, os, sys
+
+TEAM_NAME = os.environ.get('TEAM_NAME')
+ROBOT_HOSTS = os.environ.get('ROBOT_HOSTS')
+
+filename = sys.argv[1]
+
+with open(filename, 'r') as f:
+    game_config = json.load(f)
+
+if TEAM_NAME: game_config['red']['config'] = 'teams/' + TEAM_NAME + '.json'
+if ROBOT_HOSTS: game_config['red']['hosts'] += ROBOT_HOSTS.split(",")
+
+with open(filename, 'w') as f:
+    json.dump(game_config, f, indent=2)