feat: Add multi platform desktop docker images

.github/workflows/docker_ci.yml

@@ -18,16 +18,26 @@ jobs:
       fail-fast: true
       matrix:
         include:
+          - dockerfile: ./docker_foxy_desktop/Dockerfile
+            context: ./docker_foxy_desktop
+            target: gazebo_nvidia
+            tag: foxy-desktop-nvidia
+            platform: linux/amd64
           - dockerfile: ./docker_foxy_desktop/Dockerfile
             context: ./docker_foxy_desktop
             target: xplore_common
             tag: foxy-desktop
+            platform: linux/amd64, linux/arm64
+          - dockerfile: ./docker_humble_desktop/Dockerfile
+            context: ./docker_humble_desktop
+            target: gazebo_nvidia
+            tag: humble-desktop-nvidia
             platform: linux/amd64
           - dockerfile: ./docker_humble_desktop/Dockerfile
             context: ./docker_humble_desktop
             target: xplore_common
             tag: humble-desktop
-            platform: linux/amd64
+            platform: linux/amd64, linux/arm64
           - dockerfile: ./docker_foxy_jetson/Dockerfile
             context: ./docker_foxy_jetson
             target: xplore_common

docker_foxy_desktop/Dockerfile

@@ -90,54 +90,10 @@ RUN rm -rf /var/lib/apt/lists/*
 
 ENV AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS=1
 
-###########################################
-#  Dev+Gazebo+Nvidia image 
-###########################################
-FROM dev AS gazebo_nvidia
-
-ARG DEBIAN_FRONTEND=noninteractive
-
-# Install nvidia-driver version 470
-RUN apt-get update && apt-get install -y nvidia-driver-470
-
-# Install CUDA Toolkit 11.8
-RUN wget https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2004/x86_64/cuda-keyring_1.0-1_all.deb \
-    && dpkg -i cuda-keyring_1.0-1_all.deb
-RUN apt-get update && apt-get install -y --no-install-recommends cuda-toolkit-11-8
-
-# Source CUDA
-ENV CUDA_HOME=/usr/local/cuda-11.8
-ENV LD_LIBRARY_PATH=${CUDA_HOME}/lib64:$LD_LIBRARY_PATH
-ENV PATH=${CUDA_HOME}/bin:$PATH
-
-################
-# Expose the nvidia driver to allow opengl 
-# Dependencies for glvnd and X11.
-################
-RUN apt-get update \
-    && apt-get install -y -qq --no-install-recommends \
-    libglvnd0 \
-    libgl1 \
-    libglx0 \
-    libegl1 \
-    libxext6 \
-    libx11-6
-
-# Install Gazebo
-RUN curl -sSL http://get.gazebosim.org | sh
-
-# Clean up
-RUN rm -rf /var/lib/apt/lists/*
-
-# Env vars for the nvidia-container-runtime.
-ENV NVIDIA_VISIBLE_DEVICES all
-ENV NVIDIA_DRIVER_CAPABILITIES graphics,utility,compute
-ENV QT_X11_NO_MITSHM 1
-
 ###########################################
 #  Xplore Common image
 ###########################################
-FROM gazebo_nvidia AS xplore_common
+FROM dev AS xplore_common
 
 ARG DEBIAN_FRONTEND=noninteractive
 
@@ -166,7 +122,6 @@ RUN /etc/init.d/udev restart
 RUN apt-get update && apt-get upgrade -y
 RUN apt-get install -y --no-install-recommends \
     ros-${ROS_DISTRO}-behaviortree-cpp-v3 \
-    ros-${ROS_DISTRO}-gazebo-ros-pkgs \
     ros-${ROS_DISTRO}-xacro
 
 WORKDIR /home/$USERNAME
@@ -177,4 +132,53 @@ RUN usermod -aG dialout $USERNAME
 RUN usermod -aG video $USERNAME
 
 # Clean up
-RUN rm -rf /var/lib/apt/lists/*
+RUN rm -rf /var/lib/apt/lists/*
+
+###########################################
+#  Dev+Gazebo+Nvidia image 
+###########################################
+FROM xplore_common AS gazebo_nvidia
+
+ARG DEBIAN_FRONTEND=noninteractive
+
+# Install nvidia-driver version 470
+RUN apt-get update && apt-get install -y nvidia-driver-470
+
+# Install CUDA Toolkit 11.8
+RUN wget https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2004/x86_64/cuda-keyring_1.0-1_all.deb \
+    && dpkg -i cuda-keyring_1.0-1_all.deb
+RUN apt-get update && apt-get install -y --no-install-recommends cuda-toolkit-11-8
+
+# Source CUDA
+ENV CUDA_HOME=/usr/local/cuda-11.8
+ENV LD_LIBRARY_PATH=${CUDA_HOME}/lib64:$LD_LIBRARY_PATH
+ENV PATH=${CUDA_HOME}/bin:$PATH
+
+################
+# Expose the nvidia driver to allow opengl 
+# Dependencies for glvnd and X11.
+################
+RUN apt-get update \
+    && apt-get install -y -qq --no-install-recommends \
+    libglvnd0 \
+    libgl1 \
+    libglx0 \
+    libegl1 \
+    libxext6 \
+    libx11-6
+
+# Install Gazebo
+RUN curl -sSL http://get.gazebosim.org | sh
+
+# Install Gazebo ROS packages
+RUN apt-get update && apt-get upgrade -y
+RUN apt-get install -y --no-install-recommends \
+    ros-${ROS_DISTRO}-gazebo-ros-pkgs
+
+# Clean up
+RUN rm -rf /var/lib/apt/lists/*
+
+# Env vars for the nvidia-container-runtime.
+ENV NVIDIA_VISIBLE_DEVICES all
+ENV NVIDIA_DRIVER_CAPABILITIES graphics,utility,compute
+ENV QT_X11_NO_MITSHM 1

docker_foxy_desktop/build.sh

@@ -1 +1 @@
-docker build --progress=plain -t ghcr.io/epflxplore/docker_commons:foxy-desktop --target xplore_common .
+docker build --progress=plain -t ghcr.io/epflxplore/docker_commons:foxy-desktop-nvidia --target gazebo_nvidia .

docker_foxy_desktop/fresh_build.sh

@@ -1 +1 @@
-docker build --pull --no-cache --progress=plain -t ghcr.io/epflxplore/docker_commons:foxy-desktop --target xplore_common .
+docker build --pull --no-cache --progress=plain -t ghcr.io/epflxplore/docker_commons:foxy-desktop-nvidia --target gazebo_nvidia .

docker_foxy_desktop/run.sh

@@ -26,7 +26,7 @@ echo ""
 echo "Running docker..."
 
 docker run -it \
-    --name xplore_foxy_desktop \
+    --name xplore_foxy_desktop_nvidia \
     --rm \
     --runtime=nvidia \
     --gpus all \
@@ -39,4 +39,4 @@ docker run -it \
     -v $XAUTH:$XAUTH \
     -v /run/user/1000/at-spi:/run/user/1000/at-spi \
     -v /dev:/dev \
-    ghcr.io/epflxplore/docker_commons:foxy-desktop
+    ghcr.io/epflxplore/docker_commons:foxy-desktop-nvidia

docker_humble_desktop/Dockerfile

@@ -90,54 +90,10 @@ RUN rm -rf /var/lib/apt/lists/*
 
 ENV AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS=1
 
-###########################################
-#  Dev+Gazebo+Nvidia image 
-###########################################
-FROM dev AS gazebo_nvidia
-
-ARG DEBIAN_FRONTEND=noninteractive
-
-# Install nvidia-driver version 470
-RUN apt-get update && apt-get install -y nvidia-driver-470
-
-# Install CUDA Toolkit 11.8
-RUN wget https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2204/x86_64/cuda-keyring_1.0-1_all.deb \
-    && dpkg -i cuda-keyring_1.0-1_all.deb
-RUN apt-get update && apt-get install -y --no-install-recommends cuda-toolkit-11-8
-
-# Source CUDA
-ENV CUDA_HOME=/usr/local/cuda-11.8
-ENV LD_LIBRARY_PATH=${CUDA_HOME}/lib64:$LD_LIBRARY_PATH
-ENV PATH=${CUDA_HOME}/bin:$PATH
-
-################
-# Expose the nvidia driver to allow opengl 
-# Dependencies for glvnd and X11.
-################
-RUN apt-get update \
-    && apt-get install -y -qq --no-install-recommends \
-    libglvnd0 \
-    libgl1 \
-    libglx0 \
-    libegl1 \
-    libxext6 \
-    libx11-6
-
-# Install Gazebo
-RUN curl -sSL http://get.gazebosim.org | sh
-
-# Clean up
-RUN rm -rf /var/lib/apt/lists/*
-
-# Env vars for the nvidia-container-runtime.
-ENV NVIDIA_VISIBLE_DEVICES all
-ENV NVIDIA_DRIVER_CAPABILITIES graphics,utility,compute
-ENV QT_X11_NO_MITSHM 1
-
 ###########################################
 #  Xplore Common image
 ###########################################
-FROM gazebo_nvidia AS xplore_common
+FROM dev AS xplore_common
 
 ARG DEBIAN_FRONTEND=noninteractive
 
@@ -166,7 +122,6 @@ RUN /etc/init.d/udev restart
 RUN apt-get update && apt-get upgrade -y
 RUN apt-get install -y --no-install-recommends \
     ros-${ROS_DISTRO}-behaviortree-cpp-v3 \
-    ros-${ROS_DISTRO}-gazebo-ros-pkgs \
     ros-${ROS_DISTRO}-xacro
 
 WORKDIR /home/$USERNAME
@@ -177,4 +132,53 @@ RUN usermod -aG dialout $USERNAME
 RUN usermod -aG video $USERNAME
 
 # Clean up
-RUN rm -rf /var/lib/apt/lists/*
+RUN rm -rf /var/lib/apt/lists/*
+
+###########################################
+#  Dev+Gazebo+Nvidia image 
+###########################################
+FROM xplore_common AS gazebo_nvidia
+
+ARG DEBIAN_FRONTEND=noninteractive
+
+# Install nvidia-driver version 470
+RUN apt-get update && apt-get install -y nvidia-driver-470
+
+# Install CUDA Toolkit 11.8
+RUN wget https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2204/x86_64/cuda-keyring_1.0-1_all.deb \
+    && dpkg -i cuda-keyring_1.0-1_all.deb
+RUN apt-get update && apt-get install -y --no-install-recommends cuda-toolkit-11-8
+
+# Source CUDA
+ENV CUDA_HOME=/usr/local/cuda-11.8
+ENV LD_LIBRARY_PATH=${CUDA_HOME}/lib64:$LD_LIBRARY_PATH
+ENV PATH=${CUDA_HOME}/bin:$PATH
+
+################
+# Expose the nvidia driver to allow opengl 
+# Dependencies for glvnd and X11.
+################
+RUN apt-get update \
+    && apt-get install -y -qq --no-install-recommends \
+    libglvnd0 \
+    libgl1 \
+    libglx0 \
+    libegl1 \
+    libxext6 \
+    libx11-6
+
+# Install Gazebo
+RUN curl -sSL http://get.gazebosim.org | sh
+
+# Install Gazebo ROS packages
+RUN apt-get update && apt-get upgrade -y
+RUN apt-get install -y --no-install-recommends \
+    ros-${ROS_DISTRO}-gazebo-ros-pkgs
+
+# Clean up
+RUN rm -rf /var/lib/apt/lists/*
+
+# Env vars for the nvidia-container-runtime.
+ENV NVIDIA_VISIBLE_DEVICES all
+ENV NVIDIA_DRIVER_CAPABILITIES graphics,utility,compute
+ENV QT_X11_NO_MITSHM 1

docker_humble_desktop/build.sh

@@ -1 +1 @@
-docker build --progress=plain -t ghcr.io/epflxplore/docker_commons:humble-desktop --target xplore_common .
+docker build --progress=plain -t ghcr.io/epflxplore/docker_commons:humble-desktop-nvidia --target gazebo_nvidia .

docker_humble_desktop/fresh_build.sh

@@ -1 +1 @@
-docker build --pull --no-cache --progress=plain -t ghcr.io/epflxplore/docker_commons:humble-desktop --target xplore_common .
+docker build --pull --no-cache --progress=plain -t ghcr.io/epflxplore/docker_commons:humble-desktop-nvidia --target gazebo_nvidia .

docker_humble_desktop/run.sh

@@ -26,7 +26,7 @@ echo ""
 echo "Running docker..."
 
 docker run -it \
-    --name xplore_humble_desktop \
+    --name xplore_humble_desktop_nvidia \
     --rm \
     --runtime=nvidia \
     --gpus all \
@@ -39,4 +39,4 @@ docker run -it \
     -v $XAUTH:$XAUTH \
     -v /run/user/1000/at-spi:/run/user/1000/at-spi \
     -v /dev:/dev \
-    ghcr.io/epflxplore/docker_commons:humble-desktop
+    ghcr.io/epflxplore/docker_commons:humble-desktop-nvidia