Added Docker support

README.md

@@ -148,6 +148,75 @@ roslaunch me5413_world navigation.launch
 
 ![rviz_navigation_image](src/me5413_world/media/rviz_navigation.png)
 
+## Docker Support
+This repository provides Docker support for setting up and managing a ROS Noetic environment with GPU acceleration.
+The docker folder includes the following Dockerfiles to build container images:
+
+#### 1. `nvidia-ros-noetic.Dockerfile`
+This file creates a ROS Noetic image using an NVIDIA CUDA-based Ubuntu base image, providing GPU support for ROS applications.
+
+To build the image,
+
+```bash
+  # From the root of the repository build the GPU accelerated ROS Noetic image
+  docker build -f docker/nvidia-ros-noetic.Dockerfile -t nvidia-ros-noetic .
+```
+
+#### 2. `dev-overlay.Dockerfile`
+
+This file extends the ROS Noetic base image, setting up a development container with the volume-mounted `src` folder
+containing all the packages. Any new packages created in the `src` folder will automatically appear inside the running container.
+
+To build the development image,
+
+```bash
+  # From the root of the repository build the development image
+  docker build -f docker/dev-overlay.Dockerfile -t dev-overlay .
+```
+### Launching the development environment
+The repository includes a `docker-compose.yaml` file in the root directory to simplify launching the development environment. Use the following steps:
+
+1. Allow X11 access for Gazebo
+
+```bash
+  xhost +
+```
+
+2. Start the development environment
+
+```bash
+  docker compose up
+```
+
+### Accessing the development environment
+
+Once the container is running, you can access it using the following commands:
+
+- With `appuser` privilages
+
+```bash
+  docker exec -it dev-overlay bash
+```
+- With `root` privilages
+
+```bash
+  docker exec -it -u 0 dev-overlay bash
+```
+
+### Customizing the development environment
+
+The development environment can be extended by adding custom commands to `docker/dev-overlay.Dockerfile` in the designated section:
+
+```
+  # Put your code here to run additional commands
+  #######################################################################
+
+
+
+
+  #######################################################################
+```
+
 ## Student Tasks
 
 ### 1. Map the environment
@@ -188,4 +257,4 @@ We are following:
 
 ## License
 
-The [ME5413_Final_Project](https://github.com/NUS-Advanced-Robotics-Centre/ME5413_Final_Project) is released under the [MIT License](https://github.com/NUS-Advanced-Robotics-Centre/ME5413_Final_Project/blob/main/LICENSE)
+The [ME5413_Final_Project](https://github.com/NUS-Advanced-Robotics-Centre/ME5413_Final_Project) is released under the [MIT License](https://github.com/NUS-Advanced-Robotics-Centre/ME5413_Final_Project/blob/main/LICENSE)

docker-compose.yaml

@@ -0,0 +1,30 @@
+version: "3.9"
+
+services:
+  # ROS Noetic image
+  nvidia-ros-noetic:
+    image: nvidia-ros-noetic
+    container_name: nvidia-ros-noetic
+    build:
+      context: .
+      dockerfile: docker/nvidia-ros-noetic.Dockerfile
+    network_mode: host
+    environment:
+      - DISPLAY=${DISPLAY}
+      - QT_X11_NO_MITSHM=1
+      - NVIDIA_DRIVER_CAPABILITIES=all
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix:rw
+      - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority
+
+  dev-overlay:
+    extends: nvidia-ros-noetic
+    image: dev-overlay
+    container_name: dev-overlay
+    build:
+      context: .
+      dockerfile: docker/dev-overlay.Dockerfile
+    network_mode: host
+    volumes:
+      - ./src:/appuser/catkin_ws/src:rw
+    command: sleep infinity

docker/dev-overlay.Dockerfile

@@ -0,0 +1,61 @@
+FROM nvidia-ros-noetic:latest
+SHELL [ "/bin/bash", "-c" ]
+
+# Set env variables for rosdep
+ENV ROS_PYTHON_VERSION=3
+ENV ROS_DISTRO=noetic
+
+# Create new user with full permission to the volume mount
+RUN useradd --create-home appuser
+
+# Copy the src folder for volume mount
+USER appuser
+
+WORKDIR /appuser
+
+RUN mkdir -p catkin_ws/src
+
+COPY ./src catkin_ws/src
+
+# Run rosdep to install dependencies
+USER root
+
+WORKDIR /appuser/catkin_ws
+
+RUN apt-get update --fix-missing \
+  && rosdep update
+
+RUN rosdep install --from-paths src --ignore-src -r -y
+
+# Download Gazebo models
+USER appuser
+
+WORKDIR /home/appuser
+
+RUN git clone https://github.com/osrf/gazebo_models.git
+
+RUN mkdir -p .gazebo/models \
+  && cp -r gazebo_models/* .gazebo/models \
+  && cp -r /appuser/catkin_ws/src/me5413_world/models/* .gazebo/models
+
+
+# Put your code here to run additional commands
+#######################################################################
+
+
+
+
+#######################################################################
+
+
+# Build the entire package
+USER appuser
+
+WORKDIR /appuser/catkin_ws
+
+RUN source /opt/ros/noetic/setup.bash \
+  && catkin config --install \
+  && catkin build
+
+RUN echo "source /appuser/catkin_ws/devel/setup.bash" >> ~/.bashrc
+

docker/nvidia-ros-noetic.Dockerfile

@@ -0,0 +1,47 @@
+# Ubuntu 20.04 base image with NVIDIA CUDA and ROS Noetic
+FROM nvidia/cudagl:11.2.1-base-ubuntu20.04
+SHELL ["/bin/bash", "-c"]
+
+# Install apt packages
+ARG DEBIAN_FRONTEND=noninteractive
+
+RUN apt-get update && apt-get install -y \
+  locales \
+  lsb-release
+
+RUN dpkg-reconfigure locales
+
+RUN apt-get update && apt-get install -y \
+  git \
+  g++ \
+  cmake \
+  gnupg \
+  gnupg1 \
+  gnupg2 \
+  wget
+
+# Install ROS Noetic
+RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
+
+RUN apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
+
+RUN apt-get update \
+ && apt-get install -y --no-install-recommends ros-noetic-desktop-full
+
+RUN apt-get install -y --no-install-recommends python3-rosdep
+
+RUN rosdep init \
+ && rosdep fix-permissions \
+ && rosdep update
+
+RUN echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
+
+# Install python3 dependencies
+RUN apt-get install -y \
+  python3-pip \
+  python3-catkin-tools \
+  python3-opencv
+
+COPY ./docker/ros_entrypoint.sh /
+ENTRYPOINT [ "/ros_entrypoint.sh" ]
+

docker/ros_entrypoint.sh

@@ -0,0 +1,5 @@
+#!/bin/bash
+
+source /opt/ros/noetic/setup.bash
+
+exec "$@"