Rework structure and images (#22)

* Rework dockerfiles and build process (#20)

* Improve files structure

* Build libusb in external/libusb folder

* Remove dead code in dockerfiles

* Fix libusb file naming

* Fix ros2humble dockerfiles

* Use prebuilt libusb in dockerfiles

* Use wheels instead of building depthai

* Remove excessive apt-get clean

* Remove excessive apt-get -y flag

* Merge origin and base stages

* Remove excessive apt-get purge

- It was the last command in build stage, but final stage is not based
  on build stage

* Remove update-alternatives for python

* Remove experimental syntax support

* Always ensure python3 is installed

* Always upgrade pip, setuptools and wheel

* Add distinctipy to regular images

* Fix comment

* Remove unused OPENCV_VERSION arg

* Always set DEBIAN_FRONTEND=noninteractive

* Use upper case for dockerfile instructions

* Add base dockerfile with ROBOTICS_VISION_CORE arg

* Add BASE_IMAGE arg

* Use VARIANT arg to install python packages

* Remove hardcoded dockerfiles

- Use base dockerfile instead

* Remove depthai branch from workflow dispatch inputs

* Remove unused paths filter in push trigger

* Format publish-base-images.yml workflow file

* Remove repository dispatch trigger

* Fix style in scripts

* Add DEPTHAI_VERSION arg

* Move precompiled libusb to docker build context

* Remove unused dependencies installation from custom dockerfiles

* Format setup-remote-builder.sh script

* Rework build scripts

* Add DEPTHAI_SDK_VERSION arg

* Add ROBOTHUB_OAK_VERSION arg

* Update README.md

* Fix hardcoded base image in build script

* Run scripts with bash instead of sh

* Provide script to install specific version of depthai

* Remove unused pyproject.toml

* Don't upgrade pip, setuptools and wheels

- Upgrade doesn't uninstall previous versions installed by apt-get
- Image size is reduced by ~38MB

* Build and publish libusb using GitHub workflow

* Temporarily remove push trigger for buliding images

* Fix yaml syntax

* Use sudo apt-get to install dependencies

* Set fail-fast to false in libusb workflow

* Add aws cli installing to libusb workflow

* Fix aws cli installation

* Download precompiled libusb from rh-public in dockerfiles

* Revert "Temporarily remove push trigger for buliding images"

This reverts commit bb99232.

* Improve installation scripts

* Add core image with no preinstalled packages

* Use buildjet runners to build docker images (#21)

* Remove build workflow that uses aws

* Remove --builder and --platform flags

* Add architecture suffix to image tags

* Remove image version derivation from scripts

* Add make_manifests.sh script

* Add new image build workflow that uses buildjet

* Add checkout action to make-manifests job

* Add name to all jobs/steps

* Remove unused NODE_AUTH_TOKEN env variable

* Use buildx imagetools to make manifests

- Fix issue with unknown manifest

* Remove on push to main trigger

* Publish to robothub-app-v2 on release, otherwise to robothub-app-v2-dev

* Remove on push to develop trigger

* Change depthai-sdk version to 1.12.1

* Use robothub 2.2.0 (renamed robothub-oak)

---------

Co-authored-by: OpeningNew <[email protected]>
Co-authored-by: Nikolay Tsoy <[email protected]>

.github/workflows/publish-images.yml

@@ -0,0 +1,71 @@
+name: Build and publish images
+
+on:
+  workflow_dispatch:
+  release:
+    types: [published]
+
+env:
+  IMAGE_REF_NAME: ${{ github.event_name == 'release' && 'robothub-app-v2' || 'robothub-app-v2-dev' }}
+
+jobs:
+  generate-version:
+    name: Generate image version
+    runs-on: buildjet-2vcpu-ubuntu-2204
+    outputs:
+      version: ${{ steps.generate-version.outputs.version }}
+    steps:
+      - name: Generate image version
+        id: generate-version
+        run: echo "version=$(date +%Y.%j.%H%M)" >> "$GITHUB_OUTPUT"
+  build:
+    name: Build & push images
+    permissions:
+      packages: write
+      contents: read
+    needs: generate-version
+    strategy:
+      fail-fast: false
+      matrix:
+        runner:
+          - { runs-on: buildjet-4vcpu-ubuntu-2204, arch: amd64 }
+          - { runs-on: buildjet-4vcpu-ubuntu-2204-arm, arch: arm64 }
+    env:
+      IMAGE_VERSION: ${{ needs.generate-version.outputs.version }}
+      ARCH: ${{ matrix.runner.arch }}
+    runs-on: ${{ matrix.runner.runs-on }}
+    steps:
+      - name: Checkout repo
+        uses: actions/checkout@v4
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v2
+      - name: Login to GitHub Container Registry
+        uses: docker/login-action@v2
+        with:
+          registry: ghcr.io
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+      - name: Build & push images
+        run: ./scripts/build-images.sh
+  make-manifests:
+    name: Make multi-arch manifests
+    permissions:
+      packages: write
+      contents: read
+    needs: [generate-version, build]
+    env:
+      IMAGE_VERSION: ${{ needs.generate-version.outputs.version }}
+    runs-on: buildjet-2vcpu-ubuntu-2204
+    steps:
+      - name: Checkout repo
+        uses: actions/checkout@v4
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v2
+      - name: Login to GitHub Container Registry
+        uses: docker/login-action@v2
+        with:
+          registry: ghcr.io
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+      - name: Make multi-arch manifests
+        run: ./scripts/make-manifests.sh

.github/workflows/publish-patched-libusb.yml

@@ -0,0 +1,48 @@
+name: Build and publish patched libusb
+
+on:
+  workflow_dispatch:
+
+jobs:
+  build-libusb:
+    name: Build & publish patched libusb
+    timeout-minutes: 30
+    permissions:
+      contents: read
+    strategy:
+      fail-fast: false
+      matrix:
+        runner:
+          - {runs-on: buildjet-2vcpu-ubuntu-2204, arch: x86_64}
+          - {runs-on: buildjet-2vcpu-ubuntu-2204-arm, arch: aarch64}
+    runs-on: ${{ matrix.runner.runs-on }}
+    steps:
+      - uses: actions/checkout@v4
+      - name: Install dependencies
+        run: |
+          sudo apt-get update -qq
+          sudo apt-get install -qq --no-install-recommends ca-certificates wget bzip2 build-essential
+      - name: Build libusb
+        working-directory: external/libusb/
+        run: |
+          wget https://github.com/libusb/libusb/releases/download/v1.0.26/libusb-1.0.26.tar.bz2
+          tar xf libusb-1.0.26.tar.bz2
+          cp linux_netlink.c libusb-1.0.26/libusb/os/linux_netlink.c
+          cd libusb-1.0.26
+          ./configure --disable-udev
+          make -j$(nproc)
+      - name: Install aws cli
+        env:
+          ARCHITECTURE: ${{ matrix.runner.arch }}
+        run: |
+          wget -O "awscliv2.zip" "https://awscli.amazonaws.com/awscli-exe-linux-$ARCHITECTURE.zip"
+          unzip awscliv2.zip
+          sudo ./aws/install --update
+      - name: Upload to bucket
+        working-directory: external/libusb/
+        env:
+          ARCHITECTURE: ${{ matrix.runner.arch }}
+          AWS_ACCESS_KEY_ID: ${{ secrets.RH_PUBLIC_ACCESS_KEY_ID }}
+          AWS_SECRET_ACCESS_KEY: ${{ secrets.RH_PUBLIC_SECRET_ACCESS_KEY }}
+          AWS_ENDPOINT_URL: ${{ secrets.RH_PUBLIC_ENDPOINT }}
+        run: aws s3 cp libusb-1.0.26/libusb/.libs/libusb-1.0.so.0.3.0 s3://rh-public/libusb/1.0.26/libusb-$ARCHITECTURE.so

README.md

@@ -1,21 +1,33 @@
-# RobotHub-Images Repository
+# RobotHub Images Repository
 
 This repository contains the Dockerfiles used to build the images for RobotHub apps.
 
 ## Available Images
-> **Note**: All images are available at [GitHub Packages](https://github.com/luxonis/robothub-images/pkgs/container/robothub-app-v2).
-- minimal: Debian-based image with minimal dependencies for running RobotHub apps
-- regular: Ubuntu-based image for running RobotHub apps (recommended)
-- ros2humble: Ubuntu-based image for running RobotHub apps with ROS2 Humble installed
+
+> [!NOTE]
+> All images are available at [GitHub Packages](https://github.com/luxonis/robothub-images/pkgs/container/robothub-app-v2).
+
+### Robotics Vision Core
+
+- `RVC2` ([OAK Series 2](https://docs.luxonis.com/projects/hardware/en/latest/pages/articles/oak-s2/))
+- `RVC3` ([OAK Series 3](https://docs.luxonis.com/projects/hardware/en/latest/pages/articles/oak-s3/))
+
+### Variant
+
+- `minimal`: Ubuntu-based image with minimal dependencies for running RobotHub apps
+- `regular`: Ubuntu-based image for running RobotHub apps (recommended)
+
+### ROS2
+
+- `ros2humble`: Ubuntu-based image for running RobotHub apps with ROS2 Humble installed
 
 ## Making first app
 
-Please visit [RobotHub documentation page](https://docs-beta.luxonis.com/robothub/get-started) for more information about how to make your
+Please visit [RobotHub documentation page](https://docs-beta.luxonis.com/develop/quick-start) for more information about how to make your
 first app.
 
 ## License
 
 This project is licensed under the terms of the MIT license.
 
-If you have any questions about Perception Apps or RobotHub, please visit our [Documentation](https://hub-docs.luxonis.com/docs/perception-apps/overview) or ask us directly on the [forums](https://discuss.luxonis.com).
-
+If you have any questions about Perception Apps or RobotHub, please visit our [Documentation](https://docs-beta.luxonis.com/) or ask us directly on the [forums](https://discuss.luxonis.com).

context/download-patched-libusb

@@ -0,0 +1,22 @@
+#!/bin/bash
+
+TARGETARCH_LINUX=""
+if [[ $# -eq 0 ]]; then
+    TARGETARCH_LINUX=$(uname -m)
+elif [[ $# -eq 1 ]]; then
+    TARGETARCH=$1
+    if [[ "${TARGETARCH}" == "amd64" ]]; then
+        TARGETARCH_LINUX="x86_64"
+    elif [[ "${TARGETARCH}" == "arm64" ]]; then
+        TARGETARCH_LINUX="aarch64"
+    else
+        echo "Unknown TARGETARCH: ${TARGETARCH}"
+        exit 1
+    fi
+else
+    echo "Usage: $0 [target-arch]"
+    echo "target-arch: amd64, arm64"
+    exit 1
+fi
+
+wget -O /lib/libusb-1.0.so "https://rh-public.luxonis.com/libusb/1.0.26/libusb-${TARGETARCH_LINUX}.so"

context/install-depthai-version

@@ -0,0 +1,14 @@
+#!/bin/bash
+
+if [[ $# -ne 1 ]]; then
+    echo "Usage: $0 <depthai-version>"
+    exit 1
+fi
+
+DEPTHAI_VERSION=$1
+
+echo "Installing depthai version: ${DEPTHAI_VERSION}"
+pip3 install --no-deps --no-cache-dir --extra-index-url https://artifacts.luxonis.com/artifactory/luxonis-python-snapshot-local/ depthai==${DEPTHAI_VERSION}
+
+echo "Patching depthai installation..."
+find /usr/local/lib/python3.10/dist-packages/depthai.libs -type f -name "libusb*.so" -print -exec cp /lib/libusb-1.0.so {} \;

context/install-luxonis-packages

@@ -0,0 +1,22 @@
+#!/bin/bash
+
+if [[ $# -ne 3 ]]; then
+    echo "Usage: $0 [robotics-vision-core] [depthai-sdk-version] [robothub-oak-version]"
+    echo "robotics-vision-core: rvc2, rvc3"
+    exit 1
+fi
+
+ROBOTICS_VISION_CORE=$1
+DEPTHAI_SDK_VERSION=$2
+ROBOTHUB_VERSION=$3
+
+if [[ "$ROBOTICS_VISION_CORE" == "rvc2" ]]; then
+    pip3 install --no-deps --no-cache-dir depthai-sdk==${DEPTHAI_SDK_VERSION}
+    pip3 install --no-deps --no-cache-dir robothub==${ROBOTHUB_VERSION}
+elif [[ "$ROBOTICS_VISION_CORE" == "rvc3" ]]; then
+    pip3 install --no-deps --no-cache-dir "git+https://github.com/luxonis/depthai.git@${DEPTHAI_SDK_VERSION}#subdirectory=depthai_sdk"
+    pip3 install --no-deps --no-cache-dir robothub==${ROBOTHUB_VERSION}
+else
+    echo "Unknown ROBOTICS_VISION_CORE: ${ROBOTICS_VISION_CORE}"
+    exit 1
+fi

context/requirements-minimal.txt

@@ -0,0 +1,7 @@
+distinctipy
+marshmallow
+numpy
+opencv-contrib-python-headless
+requests
+sentry-sdk
+xmltodict

context/requirements-regular.txt

@@ -0,0 +1,9 @@
+av
+blobconverter
+distinctipy
+marshmallow
+numpy
+opencv-contrib-python-headless
+requests
+sentry-sdk
+xmltodict