Created solution docker configuration

docker/solution/build_comp_image.bash

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+#! /usr/bin/env bash
+#
+# Space Robotics Competition 2: NASA JSC
+# Copyright (c), 2019-2021 NASA-JSC. All Rights Reserved
+# Unauthorized distribution strictly prohibited
+#
+#
+pushd `pwd` > /dev/null 2>&1
+cd $(cd -P -- "$(dirname -- "$0")" && pwd -P)
+source "../../srcp2-competitors/docker/scripts/srcp2_setup.bash"
+
+# ----------------------------------------------------------------------------------------------------------------------
+# CONSTANTS AND NAMES
+#
+BUILD_CONTEXT=$( cd "../../"; pwd) # the repo root
+DOCKER_BUILD_ARGS=""
+#
+BUILD_LOG="/tmp/docker-build-log.txt"
+OUTPUT_LOG=" > $BUILD_LOG 2>&1"
+VERBOSE=0
+# Solution 
+DOCKER_SUBMIT_REPO="scheducation/srcp2_comp_solutions"
+DOCKER_SUBMIT_TAG="swarmathon"
+
+# Base Line
+DOCKER_BASE_REPO="scheducation/srcp2_comp"
+DOCKER_BASE_TAG="final_competitor"
+#
+
+
+# ----------------------------------------------------------------------------------------------------------------------
+# UTILITY FUNCTIONS
+#
+
+function help(){
+    echo -e "
+ ${B}Synopsis:${rs}
+
+    Build the the solution docker images this project relies upon.
+    By default, this will build everything, you can specify 
+    which image sets you build
+
+ ${B}Options:${rs}
+
+    ${B}-h | --help${rs} 
+        print this message and quit
+
+    ${B}-n | --new${rs}
+        build any clean (--no-cache). This forces total rebuild and 
+        will be slow!
+
+    ${B}-t | --team${rs}  
+        the Team Name Tag in the submision docker hub repo if not 
+        provided the defaults to team_omega a developer test image
+
+    ${B}-v | --verbose${rs} 
+        build verbose, show all docker outputs to stdout
+"
+}
+
+function test_build_ok() {
+    if [ $1 -ne 0 ]; then
+        echo -e "$echo_error could not build image for ${r}$2${rs}"
+        echo
+        if [ $VERBOSE -eq 0 ]; then
+            cat $3
+        fi
+        return $1
+    else
+        echo -e "$echo_ok completed build ${b}$2${rs}"
+        return 0
+    fi
+}
+
+# ----------------------------------------------------------------------------------------------------------------------
+#
+function build_solution_images() {
+
+    tag="${DOCKER_SUBMIT_REPO}:${DOCKER_SUBMIT_TAG}"
+    echo -e "$echo_info building ${b}$tag${rs}"
+    docker build ${DOCKER_BUILD_ARGS} \
+        --file solution.dockerfile \
+        --tag  $tag \
+        --build-arg base_image=${DOCKER_BASE_REPO}:${DOCKER_BASE_TAG} \
+        \
+        $BUILD_CONTEXT
+
+    if ! test_build_ok $? $tag $BUILD_LOG; then return 1; fi
+    echo
+
+    return 0
+}
+
+
+# ----------------------------------------------------------------------------------------------------------------------
+# MAIN PROGRAM
+
+echo_header
+
+# long opts to short opts
+for arg in "$@"; do
+    shift
+    case "$arg" in
+        "--help")    set -- "$@" "-h" ;;
+        "--team")    set -- "$@" "-t" ;;
+        "--new")     set -- "$@" "-n" ;;
+        "--verbose") set -- "$@" "-v" ;;
+        *) set -- "$@" "$arg"
+    esac
+done
+
+OPTIND=1
+while getopts hnvt: arg; do
+  case $arg in
+
+    h) 
+        help 
+        quit_with_popd 0
+        ;;
+    n) 
+        DOCKER_BUILD_ARGS="--no-cache"
+        echo -e "$echo_info Forcing from-scratch rebuild. This will be slow!"
+        ;;
+    v)
+        VERBOSE=1
+        echo -e "$echo_info Building in verbose mode"
+        ;;
+
+    t)
+        if [ -z ${OPTARG} ]; then
+            DOCKER_SUBMIT_TAG=$DOCKER_SUBMIT_TAG
+        else 
+            DOCKER_SUBMIT_TAG=$OPTARG
+        fi
+        ;;
+    *) 
+        echo -e "$echo_error Input option \"$arg\" not supported at this time. see '-h' for help"
+        quit_with_popd 1
+        ;;
+    esac
+done
+
+echo -e "$echo_info Build Parameters:"
+echo -e "$echo_info \tDocker build context = $(cd $BUILD_CONTEXT; pwd)"
+echo -e "$echo_info \tBuild Log            = $BUILD_LOG"
+echo
+
+if ! build_solution_images; then
+    quit_with_popd $?;
+fi
+echo -e "$echo_info Solution Image Detail : ${b}${DOCKER_SUBMIT_REPO}:${DOCKER_SUBMIT_TAG}${rs}"
+echo -e "\n$echo_ok Solution Image Built."
+
+quit_with_popd 0

docker/solution/container/solution-entrypoint.bash

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+#! /usr/bin/env bash
+#
+# Space Robotics Competition 2: NASA JSC
+# Copyright (c), 2019-2021 NASA-JSC. All Rights Reserved
+#
+
+# system setups
+source "/opt/ros/$ROS_DISTRO/setup.bash"
+source "/usr/share/gazebo/setup.sh"
+
+# set up srcp2 extras
+source ~/scripts/srcp2_setup.bash
+
+# Source ROS Worspaces
+source $HOME/ros_workspace/install/setup.bash
+source $HOME/cmp_workspace/install/setup.bash
+
+roslaunch scoot scoot.launch "mode:=man" "name:=small_scout_1"
+# run example solution
+rosrun scoot repl.py
+
+exit $?

docker/solution/solution.dockerfile

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+#
+# Space Robotics Challenge 2: NASA JSC
+# Final Round
+#
+# Copyright (c), 2019-2022 NASA-JSC. All Rights Reserved
+# Unauthorized Distribution Strictly Prohibited
+#
+ARG base_image="final_competitor"
+FROM ${base_image}
+# *******************************************
+# ** COMPETITOR CUSTOMIZATION THIS LIST    **
+# ** DELIMITED ITEMS WITH SPACE CHARACTER! **
+
+# OS Level Apps (all will be installed root permissions)
+# These boxes and figlet, flask are optional are just here as examples
+ARG os_apps="apt-utils \
+	build-essential \
+	ros-noetic-tf \
+	ros-noetic-angles \
+	ros-noetic-gazebo-msgs \
+	ros-noetic-robot-localization \
+	ros-noetic-stereo-image-proc \
+	ros-noetic-gazebo-ros \
+	ros-noetic-geometry2 \
+	python3-catkin-tools \
+	python3-osrf-pycommon \
+	python3 \
+	python3-pip"
+
+# Python Plugins
+ARG py_apps="ipython future imutils scipy"
+# ** COMPETITOR CUSTOMIZATION THIS LIST DONE **
+# *********************************************
+
+ARG enduser_name="srcp2"
+
+USER root
+# The apts
+RUN apt-get update && apt-get install -y; \
+    for app in $req_os_apps; do \
+    apt-get install $app -y; \
+    done;
+# The python
+RUN for py in $req_py_apps; do \
+    pip3 install $py; \
+    done;
+
+# Make Home Folder Tree Proper Permissions ** THESE ARE REQUIRED **
+# copy in the "binary" & src versions of all the ROS packages
+# User Level 
+USER ${enduser_name}
+RUN mkdir -p -v /home/$enduser_name/cmp_workspace
+COPY --chown=${enduser_name}:${enduser_name} ./srcp2-competitors/cmp_workspace/install ${HOME}/cmp_workspace/install/
+COPY --chown=${enduser_name}:${enduser_name} . ${HOME}/cmp_workspace/src
+
+# ******************************************
+# **    COMPETITOR CUSTOMIZATION HERE!    **
+# The Competitor Can Add More Docker Customization Commands Here
+# Refer to Docker Documentation for this.
+# RUN zzz
+# COPY zzz
+#
+# ******************************************
+
+# Root Level Permissions
+USER root
+RUN chown -R "${enduser_name}:${enduser_name}" "/home/${enduser_name}";\
+    ls -la "/home/${enduser_name}"
+
+# User Level Permissions
+USER ${enduser_name}
+
+# Entrypoint and Config Copies ** THESE ARE REQUIRED **
+COPY docker/solution/container/solution-entrypoint.bash ${HOME}/scripts
+COPY docker/solution/container/config_solution.yaml ${HOME}/config
+
+# starting conditions (note: CMD not ENTRYPOINT for --interactive override)
+ENV SOLUTION_ENTRYPOINT="${HOME}/scripts/solution-entrypoint.bash"
+CMD ${SOLUTION_ENTRYPOINT}