Dummy docker - test

.github/workflows/main.yml

@@ -49,31 +49,44 @@ jobs:
         username: ${{ secrets.DOCKERHUB_USERNAME }}
         password: ${{ secrets.DOCKERHUB_TOKEN }}
     - name: Build the tour core Docker image
-      working-directory: docker_stuff/docker_tourCore2/
+      # working-directory: docker_stuff/docker_tourCore2/
+      # run: |
+      #  if [ ${{ github.event_name }} == 'schedule' ]; then
+      #     echo "Building development tour core image"
+      #     sudo docker build --build-arg base_img=${{matrix.config.base_image}} --build-arg ros_distro=${{matrix.config.ros2_distro}} -t elandini84/r1images:tourCore2_${{matrix.config.base_image_label}}_${{matrix.config.ros2_distro}}_devel .
+      #  elif [ ${{ github.event_name }} == 'workflow_dispatch' ]; then
+      #     echo "Building stable tour core image"
+      #     sudo docker build --build-arg base_img=${{matrix.config.base_image}} --build-arg ros_distro=${{matrix.config.ros2_distro}} -t elandini84/r1images:tourCore2_${{matrix.config.base_image_label}}_${{matrix.config.ros2_distro}}_stable .
+      #  else
+      #     echo "Failure!"
+      #     exit 1
+      #  fi
+      working-directory: docker_stuff/docker_dummy/
       run: |
        if [ ${{ github.event_name }} == 'schedule' ]; then
-          echo "Building development tour core image"
-          sudo docker build --build-arg base_img=${{matrix.config.base_image}} --build-arg ros_distro=${{matrix.config.ros2_distro}} -t elandini84/r1images:tourCore2_${{matrix.config.base_image_label}}_${{matrix.config.ros2_distro}}_devel .
+          echo "Building development dummy image"
+          sudo docker build -t elandini84/r1images:dummy_devel .
        elif [ ${{ github.event_name }} == 'workflow_dispatch' ]; then
-          echo "Building stable tour core image"
-          sudo docker build --build-arg base_img=${{matrix.config.base_image}} --build-arg ros_distro=${{matrix.config.ros2_distro}} -t elandini84/r1images:tourCore2_${{matrix.config.base_image_label}}_${{matrix.config.ros2_distro}}_stable .
-       else
-          echo "Failure!"
-          exit 1
-       fi
-    - name: Push tourCore2 image
-      run: |
-       if [ ${{ github.event_name }} == 'schedule' ]; then
-          echo "Pushing tourCore2 development image"
-          docker push elandini84/r1images:tourCore2_${{matrix.config.base_image_label}}_${{matrix.config.ros2_distro}}_devel
-       elif [ ${{ github.event_name }} == 'workflow_dispatch' ]; then
-          echo "Pushing tourCore2 stable image"
-          docker push elandini84/r1images:tourCore2_${{matrix.config.base_image_label}}_${{matrix.config.ros2_distro}}_stable
+          echo "Building stable dummy image"
+          sudo docker build -t elandini84/r1images:dummy_stable .
        else
           echo "Failure!"
           exit 1
        fi
 
+   #  - name: Push tourCore2 image
+   #    run: |
+   #     if [ ${{ github.event_name }} == 'schedule' ]; then
+   #        echo "Pushing tourCore2 development image"
+   #        docker push elandini84/r1images:tourCore2_${{matrix.config.base_image_label}}_${{matrix.config.ros2_distro}}_devel
+   #     elif [ ${{ github.event_name }} == 'workflow_dispatch' ]; then
+   #        echo "Pushing tourCore2 stable image"
+   #        docker push elandini84/r1images:tourCore2_${{matrix.config.base_image_label}}_${{matrix.config.ros2_distro}}_stable
+   #     else
+   #        echo "Failure!"
+   #        exit 1
+   #     fi
+
 
 #   build-r1OpenPose:
 #     runs-on: ubuntu-latest

docker_stuff/docker_dummy/Dockerfile

@@ -0,0 +1,256 @@
+FROM ubuntu:22.04
+LABEL maintainer="Ettore Landini"
+
+# Non-interactive installation mode
+ENV DEBIAN_FRONTEND=noninteractive
+ENV DOCKER_UPDATED_ON=20_06_2023
+
+# Install essentials
+RUN apt-get update && apt-get install -y apt-utils software-properties-common sudo psmisc lsb-release protobuf-compiler libatlas-base-dev \
+    tmux nano geany vim wget curl build-essential git gitk cmake cmake-curses-gui autoconf xserver-xorg-video-dummy xserver-xorg-legacy \
+    net-tools terminator libjpeg-dev ffmpeg apt-transport-https ca-certificates gnupg libace-dev ycm-cmake-modules locales \
+    python3-setuptools python3-pip iproute2 python3-tornado swig lsof iftop iputils-ping gdb bash-completion btop mlocate && rm -rf /var/lib/apt/lists/*
+
+RUN pip3 install numpy bpytop
+
+# RUN sed -i 's/allowed_users=console/allowed_users=anybody/' /etc/X11/Xwrapper.config
+# COPY ./common/xorg.conf /etc/X11/xorg.conf
+
+# # ROS2 Installation
+# RUN locale-gen en_US en_US.UTF-8
+# RUN update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
+# ENV LANG=en_US.UTF-8
+# RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+# RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
+# RUN apt-get update && apt-get upgrade -y && apt-get install -y ros-$ros_distro-desktop ros-$ros_distro-navigation2 ros-$ros_distro-nav2-bringup \
+#     ros-$ros_distro-slam-toolbox ros-$ros_distro-test-msgs ros-$ros_distro-gazebo-ros \
+#     python3-colcon-common-extensions python3-flake8 python3-flake8-blind-except python3-flake8-builtins \
+#     python3-flake8-class-newline python3-flake8-comprehensions python3-flake8-deprecated python3-flake8-docstrings \
+#     python3-flake8-import-order python3-flake8-quotes python3-pytest python3-pytest-cov python3-pytest-repeat \
+#     python3-pytest-rerunfailures python3-rosdep python3-vcstool && rosdep init && rm -rf /var/lib/apt/lists/*
+
+# # Install yarp dependencies
+# RUN echo "deb http://www.icub.org/ubuntu `lsb_release -cs` contrib/science" > /etc/apt/sources.list.d/icub.list
+# RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 57A5ACB6110576A6
+# RUN apt-get update && apt-get install -y icub-common libopencv-dev && sudo rm -rf /var/lib/apt/lists/*
+
+# # Create user: user1
+# USER root
+# RUN useradd -l -u 33334 -G sudo -md /home/user1 -s /bin/bash -p user1 user1 && \
+#     # passwordless sudo for users in the 'sudo' group
+#     sed -i.bkp -e 's/%sudo\s\+ALL=(ALL\(:ALL\)\?)\s\+ALL/%sudo ALL=NOPASSWD:ALL/g' /etc/sudoers
+
+# # ROS2 Installation (part2)
+# USER user1
+# RUN sudo rosdep fix-permissions && rosdep update
+
+# # Set ENV
+# USER user1
+# RUN mkdir /home/user1/robotology
+# ENV robotology_install_user user1
+# ENV user1_home /home/$robotology_install_user
+# ENV robotology_install_folder $user1_home/robotology
+
+# # Build ycm
+# USER $robotology_install_user
+# WORKDIR $robotology_install_folder
+# RUN git clone https://github.com/robotology/ycm.git -b master
+# RUN cd ycm && mkdir build && cd build && \
+#     cmake .. \
+#     -DCMAKE_BUILD_TYPE=Release && \
+#     make -j11
+# ENV YCM_DIR=/home/user1/robotology/ycm/build
+
+# # Build YARP
+# USER $robotology_install_user
+# WORKDIR $robotology_install_folder
+# RUN git clone https://github.com/robotology/yarp.git -b master
+# RUN cd yarp && mkdir build && cd build && \
+#     cmake .. \
+#     -DCMAKE_BUILD_TYPE=Release \
+#     -DYARP_COMPILE_libYARP_math=ON \
+#     -DYARP_COMPILE_GUIS=ON \
+#     -DYARP_COMPILE_DEVICE_PLUGINS=ON \
+#     -DENABLE_yarpcar_mjpeg=ON \
+#     -DENABLE_yarpcar_human=ON \
+#     -DENABLE_yarpcar_segmentationimage=ON \
+#     -DENABLE_yarpcar_portmonitor=ON \
+#     -DENABLE_yarpmod_portaudio=ON \
+#     -DENABLE_yarpmod_portaudioPlayer=ON \
+#     -DENABLE_yarpmod_portaudioRecorder=ON \
+#     -DENABLE_yarpmod_fakeBattery=ON  \
+#     -DENABLE_yarpmod_controlboardwrapper2=ON \
+#     -DENABLE_yarpmod_laserFromDepth=ON \
+#     -DENABLE_yarpmod_laserFromExternalPort=ON \
+#     -DENABLE_yarpmod_laserFromDepth=ON \
+#     -DENABLE_yarpmod_laserFromPointCloud=ON \
+#     -DENABLE_yarpmod_laserFromRosTopic=ON \
+#     -DENABLE_yarppm_soundfilter_resample=ON \
+#     -DENABLE_yarppm_bottle_compression_zlib=ON \
+#     -DENABLE_yarppm_depthimage_compression_zlib=ON \
+#     -DENABLE_yarppm_image_compression_ffmpeg=ON \
+#     -DENABLE_yarppm_depthimage_to_mono=ON \
+#     -DENABLE_yarppm_depthimage_to_rgb=ON && \
+#     make -j11
+# ENV YARP_ROOT=$robotology_install_folder/yarp
+# ENV YARP_DIR=$robotology_install_folder/yarp/build
+
+# # YARP bindings
+# USER $robotology_install_user
+# WORKDIR $robotology_install_folder
+# RUN cd yarp && cd bindings &&  mkdir build && cd build && cmake .. -DCREATE_PYTHON=ON && make -j11
+
+# # Install YARP completion
+# RUN sudo ln -s /usr/local/share/bash-completion/completions/yarp /usr/share/bash-completion/completions
+
+# # Build icub-firmware-shared
+# USER $robotology_install_user
+# WORKDIR $robotology_install_folder
+# RUN git clone https://github.com/robotology/icub-firmware-shared -b devel
+# RUN cd icub-firmware-shared && mkdir build && cd build && cmake .. -DCMAKE_BUILD_TYPE=Release && make -j11
+# ENV icub_firmware_shared_ROOT=$robotology_install_folder/icub-firmware-shared
+# ENV icub_firmware_shared_DIR=$robotology_install_folder/icub-firmware-shared/build
+
+# # Build icub-main
+# USER $robotology_install_user
+# WORKDIR $robotology_install_folder
+# RUN git clone https://github.com/robotology/icub-main.git -b devel
+# RUN cd icub-main && mkdir build && cd build && \
+#     cmake .. \
+#     -DCMAKE_BUILD_TYPE=Release \
+#     -DENABLE_icubmod_cartesiancontrollerserver=ON \
+#     -DENABLE_icubmod_cartesiancontrollerclient=ON \
+#     -DENABLE_icubmod_embObjAnalogSensor=ON \
+#     -DENABLE_icubmod_embObjFTsensor=ON \
+#     -DENABLE_icubmod_embObjIMU=ON \
+#     -DENABLE_icubmod_embObjInertials=ON \
+#     -DENABLE_icubmod_embObjMais=ON \
+#     -DENABLE_icubmod_embObjMotionControl=ON \
+#     -DENABLE_icubmod_embObjMultiEnc=ON \
+#     -DENABLE_icubmod_embObjPSC=ON \
+#     -DENABLE_icubmod_embObjSkin=ON \
+#     -DENABLE_icubmod_embObjStrain=ON \
+#     -DENABLE_icubmod_parametricCalibrator=ON \
+#     -DENABLE_icubmod_parametricCalibratorEth=ON \
+#     -DICUBMAIN_COMPILE_SIMULATORS=OFF \
+#     -DENABLE_icubmod_gazecontrollerclient=ON && \
+#     make -j11
+# ENV ICUB_ROOT=$robotology_install_folder/icub-main
+# ENV ICUB_DIR=$robotology_install_folder/icub-main/build
+
+# # Build robots-configuration devel
+# USER $robotology_install_user
+# WORKDIR $robotology_install_folder
+# RUN git clone https://github.com/robotology/robots-configuration.git -b devel
+
+# # Build navigation
+# USER $robotology_install_user
+# WORKDIR $robotology_install_folder
+# RUN git clone https://github.com/robotology/navigation.git -b master
+# RUN cd navigation && mkdir build && cd build && /bin/bash -c "source /opt/ros/$ros_distro/setup.bash; cmake .. -DCMAKE_BUILD_TYPE=Release -DNAVIGATION_USE_NWC=ON -DNAVIGATION_USE_ROS2=ON" && make -j11
+# ENV navigation_ROOT=$robotology_install_folder/navigation
+# ENV navigation_DIR=$robotology_install_folder/navigation/build
+
+# # CER
+# USER $robotology_install_user
+# WORKDIR $robotology_install_folder
+# RUN git clone https://github.com/robotology/cer.git -b devel
+# RUN cd cer && mkdir build && cd build && cmake .. \
+#                 -DCMAKE_BUILD_TYPE=Release \
+#                 -DENABLE_cermod_cerDoubleLidar=ON \
+#                 -DENABLE_cermod_cerOdometry=ON \
+#                 -DENABLE_cermod_tripodMotionControl=ON && make -j11
+# ENV CER_ROOT=$robotology_install_folder/cer
+# ENV CER_DIR=$robotology_install_folder/cer/build
+
+# # CER-SIM
+# USER $robotology_install_user
+# WORKDIR $robotology_install_folder
+# RUN git clone https://github.com/robotology/cer-sim -b ros2
+# RUN cd cer-sim/colcon_ws && /bin/bash -c "source /opt/ros/$ros_distro/setup.bash; colcon build; source /home/user1/robotology/cer-sim/colcon_ws/install/local_setup.bash"
+
+# # YARP-DEVICES-ROS2
+# WORKDIR $robotology_install_folder
+# RUN git clone https://github.com/robotology/yarp-devices-ros2 -b master
+# RUN cd yarp-devices-ros2/ros2_interfaces_ws && /bin/bash -c "source /opt/ros/$ros_distro/setup.bash; colcon build"
+# RUN cd yarp-devices-ros2 && mkdir build && cd build && /bin/bash -c "source /opt/ros/$ros_distro/setup.bash; source /home/user1/robotology/yarp-devices-ros2/ros2_interfaces_ws/install/setup.bash; cmake .. -DYARP_ROS2_USE_SYSTEM_map2d_nws_ros2_msgs=ON -DYARP_ROS2_USE_SYSTEM_yarp_control_msgs=ON; make -j11"
+
+# # YARP RPLidar Devices
+# WORKDIR $robotology_install_folder
+# RUN git clone https://github.com/robotology/yarp-device-rplidar -b master
+# RUN cd yarp-device-rplidar && mkdir build && cd build && cmake .. -DCMAKE_BUILD_TYPE=Release -DENABLE_rpLidar4=OFF && make -j11
+# ENV yarp-device-rpLidar_ROOT=$robotology_install_folder/yarp-device-rplidar
+# ENV yarp-device-rpLidar_DIR=$robotology_install_folder/yarp-device-rplidar/build
+
+# # Build icub-contrib-common
+# USER $robotology_install_user
+# WORKDIR $robotology_install_folder
+# RUN git clone https://github.com/robotology/icub-contrib-common.git
+# RUN cd icub-contrib-common && mkdir build && cd build && cmake .. -DCMAKE_INSTALL_PREFIX=$robotology_install_folder/iCubContrib && sudo make -j11 install
+# ENV ICUBcontrib_DIR=$robotology_install_folder/iCubContrib/lib
+# ENV ICUBcontrib_SHARE=$robotology_install_folder/iCubContrib/share/ICUBcontrib
+
+# # Set environmental variables
+# USER $robotology_install_user
+# RUN echo "PS1='\[\e]0;\u \w\a\]\[\033[01;32m\]\u\[\033[00m\] \[\033[01;34m\]\w\[\033[00m\] \$ '" >> /home/$robotology_install_user/.bashrc
+# RUN echo "source /opt/ros/$ros_distro/setup.bash" >> /home/user1/.bashrc
+# RUN echo "source /home/user1/robotology/yarp-devices-ros2/ros2_interfaces_ws/install/local_setup.bash" >> /home/user1/.bashrc
+# ENV PATH=$PATH:$YARP_DIR/bin:$navigation_DIR/bin:$CER_DIR/bin:$ICUB_DIR/bin:$ICUB_DIR:$robotology_install_folder/iCubContrib/bin:/home/user1/robotology/Groot/build:/home/user1/tour-guide-robot/build/bin:/home/user1/robotology/icub-main/build
+# ENV DISPLAY=:1
+# ENV YARP_DATA_DIRS=$YARP_DIR/share/yarp:$ICUB_DIR/share/iCub:$navigation_DIR/share/navigation:$user1_home/tour-guide-robot/build/share/tour-guide-robot:$CER_DIR/share/CER:$ICUBcontrib_DIR/share/ICUBcontrib:$robotology_install_folder/yarp-devices-ros2/build/share/yarp:$robotology_install_folder/yarp-devices-ros2/build/share/yarp-devices-ros2:$robotology_install_folder/yarp-device-rplidar/build/share/yarp:$ICUBcontrib_SHARE
+# ENV LD_LIBRARY_PATH=$robotology_install_folder/yarp/build/lib/yarp/
+# ENV YARP_COLORED_OUTPUT=1
+# ENV QT_X11_NO_MITSHM=1
+# ENV PYTHONPATH=$PYTHONPATH:/home/user1/robotology/yarp/bindings/build/lib/python3/
+# ENV CYCLONEDDS_URI=/home/user1/tour-guide-robot/app/navigation2/conf/cyclone_dds_settings.xml
+
+# # Manage yarp port
+# EXPOSE 10000/tcp 10000/udp
+
+# # Launch bash from $robotology_install_folder
+# USER $robotology_install_user
+# RUN sudo chown -R $robotology_install_user:$robotology_install_user /opt/ros && sudo chown -R $robotology_install_user:$robotology_install_user /home/$robotology_install_user/.ros
+
+# # Groot and BT dependencies
+# RUN sudo apt-get update && sudo apt-get install -y libgtest-dev libzmq3-dev libboost-dev qtbase5-dev libqt5svg5-dev libdw-dev && \
+#     cd /usr/src/gtest && sudo cmake CMakeLists.txt && sudo make && sudo rm -rf /var/lib/apt/lists/*
+# USER $robotology_install_user
+# WORKDIR $robotology_install_folder
+# RUN git clone https://github.com/BehaviorTree/Groot.git
+# #RUN cd Groot && git submodule update --init --recursive && mkdir build && cd build && cmake .. && sudo make -j11
+# RUN git clone https://github.com/elandini84/libfvad && cd libfvad && autoreconf -i && ./configure && sudo make install
+
+# # Navigation stuff
+# WORKDIR ${user1_home}
+# RUN git clone https://github.com/elandini84/yarp-web-teleop.git
+# RUN git clone https://github.com/hsp-iit/tour-guide-robot -b $ros_distro
+# RUN /bin/bash -c "source /opt/ros/$ros_distro/setup.bash; cd tour-guide-robot; mkdir build; cd build; cmake .. -DCMAKE_BUILD_TYPE=Release -DBTState=ON -DENABLE_faceExpressionImage=ON; make -j11"
+
+# # GOOGLE
+# RUN git clone --recursive -b v1.51.0 https://github.com/grpc/grpc.git
+# RUN cd grpc && mkdir build && \
+#     cd build && cmake .. -DBUILD_SHARED_LIBS=ON -DCMAKE_BUILD_TYPE=Release \
+#     -DgRPC_SSL_PROVIDER=package -DgRPC_ZLIB_PROVIDER=package && sudo make -j11 install && sudo ldconfig
+# #RUN cd && git clone https://github.com/googleapis/googleapis.git && cd googleapis && git checkout f78745822aadedb3c165d51372732d672b634db2 && sudo make -j11
+# RUN cd && git clone https://github.com/googleapis/googleapis.git
+# RUN cd googleapis && sudo make -j11
+# RUN cd && git clone https://github.com/robotology/speech.git
+# RUN cd speech && mkdir build && cd build && \
+#     cmake .. -DBUILD_GOOGLE_SPEECH=ON -Dgoogleapis_INCLUDE_DIR=/home/user1/googleapis/gens && sudo make -j11 install
+# ENV GOOGLE_APPLICATION_CREDENTIALS=/home/user1/hsp_google.json
+
+# # R1 NETWORK CONFIG
+# RUN yarp conf 192.168.100.10 10000
+
+# # Possibly temporary ROS2 network middleware change
+# RUN sudo apt-get update && sudo apt-get install -y cyclonedds-dev cyclonedds-tools \
+#     ros-$ros_distro-cyclonedds-dbgsym ros-$ros_distro-cyclonedds ros-$ros_distro-rmw-cyclonedds-cpp \
+#     ros-$ros_distro-rmw-cyclonedds-cpp-dbgsym libcycloneddsidl0 && \
+#     sudo apt-get clean && sudo rm -rf /var/lib/apt/lists/*
+# ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+
+# RUN echo "source /home/user1/tour-guide-robot/app/navigation2/scripts/evaluate_ip.sh" >> /home/user1/.bashrc
+# WORKDIR ${user1_home}/tour-guide-robot
+# RUN sudo updatedb
+# # Change the lidar devices permissions inside the docker to be able to start the devices with yarprobotinterface
+# CMD if [ -e /dev/ttyUSB0 ]; then sudo chown user1:user1 /dev/ttyUSB0 && sudo chown user1:user1 /dev/ttyUSB1; fi && bash

docker_stuff/docker_dummy/common/xorg.conf

@@ -0,0 +1,23 @@
+Section "Monitor"
+  Identifier "Monitor0"
+  HorizSync 28.0-80.0
+  VertRefresh 48.0-75.0
+  # https://arachnoid.com/modelines/
+  # 1920x1080 @ 60.00 Hz (GTF) hsync: 67.08 kHz; pclk: 172.80 MHz
+  Modeline "1920x1080_60.00" 172.80 1920 2040 2248 2576 1080 1081 1084 1118 -HSync +Vsync
+EndSection
+Section "Device"
+  Identifier "Card0"
+  Driver "dummy"
+  VideoRam 256000
+EndSection
+Section "Screen"
+  DefaultDepth 24
+  Identifier "Screen0"
+  Device "Card0"
+  Monitor "Monitor0"
+  SubSection "Display"
+    Depth 24
+    Modes "1920x1080_60.00"
+  EndSubSection
+EndSection