refactor: remove deprecated repository configurations and update base…

.devcontainer/Dockerfile

@@ -1,100 +1,44 @@
-ARG BASE_IMAGE=lcas.lincoln.ac.uk/lcas/ros:jammy-humble-cuda12.2-opengl
+ARG BASE_IMAGE=lcas.lincoln.ac.uk/lcas/limo_platform_amd64:1
 
 FROM ${BASE_IMAGE} as base
 
 # making the standard global variables available for target-specific builds
 ARG TARGETARCH
 
 USER root
 
-ENV DEBIAN_FRONTEND=noninteractive
-
-
-RUN echo "building for ${TARGETARCH}"
-RUN if [ "${TARGETARCH}" = "arm64" ]; then \
-    add-apt-repository -s -y ppa:openrobotics/gazebo11-non-amd64; \
-    fi
-
-RUN apt-get update && \
-    apt-get upgrade -y && \
-    apt-get install -qq -y --no-install-recommends \
-        git \
-        python3-pip \
-        python3-rosdep \
-        python3-matplotlib \
-        python3-pandas && \
-    apt-get clean && \
-    rm -rf /var/lib/apt/lists/*
-
 # get the source tree and analyse it for its package.xml only
 FROM base as sourcefilter
-COPY ./src /tmp/src/_workspace/src
-COPY ./.devcontainer/*repos /tmp/.devcontainer/
-RUN cd /tmp/src && vcs import < /tmp/.devcontainer/lcas.repos
-RUN if [ "${TARGETARCH}" = "arm64" ]; then \
-        cd /tmp/src; \
-        vcs import < /tmp/.devcontainer/gazebo_ros_pkgs.repos; \
-    fi
-RUN cd /tmp/src && vcs pull
+RUN mkdir -p /tmp/src/
+COPY ./src/*/package.xml /tmp/src/_workspace/src/_pkgs_xmls
+COPY ./src/*/*/package.xml /tmp/src/_workspace/src/_pkgs_xmls
+COPY ./src/*/*/*/package.xml /tmp/src/_workspace/src/_pkgs_xmls
+COPY ./src/*/*/*/*/package.xml /tmp/src/_workspace/src/_pkgs_xmls
 
 # remove everything that isn't package.xml
 RUN find /tmp/src -type f \! -name "package.xml" -print | xargs rm -rf
 
 # install all dependencies listed in the package.xml
-FROM base as depinstaller
+FROM base as devcontainer
 # copy the reduced source tree (only package.xml) from previous stage
 COPY --from=sourcefilter /tmp/src /tmp/src
 RUN rosdep update --rosdistro=${ROS_DISTRO} && apt-get update
-RUN rosdep install --from-paths /tmp/src --ignore-src -r -y && rm -rf /tmp/src && apt-get clean && rm -rf /var/lib/apt/lists/* /tmp/src
-
-FROM depinstaller as depbuilder
-COPY .devcontainer/*repos .devcontainer/*.sh /tmp/.devcontainer/
-
-# get the source tree and build it (include gazebo only for arm64 platform as it is not available for arm64)
-# see https://github.com/gazebosim/gazebo-classic/issues/3236
-RUN mkdir -p /opt/ros/lcas/src && \
-    cd /opt/ros/lcas/src && \
-    vcs import < /tmp/.devcontainer/lcas.repos
-RUN  if [ "${TARGETARCH}" = "arm64" ]; then cd /opt/ros/lcas/src; vcs import < /tmp/.devcontainer/gazebo_ros_pkgs.repos; fi
+RUN . /opt/ros/lcas/install/setup.sh && rosdep install --from-paths /tmp/src --ignore-src -y && rm -rf /tmp/src && apt-get clean && rm -rf /var/lib/apt/lists/* /tmp/src
 
-RUN . /opt/ros/humble/setup.sh && \
-    apt update && \
-    rosdep --rosdistro=${ROS_DISTRO} update && \
-    cd /opt/ros/lcas/src && \
-    vcs pull && \
-    rosdep install --from-paths . -i -y && \
-    apt-get clean && \
-    rm -rf /var/lib/apt/lists/*
-
-# build the workspace but only until limo_gazebosim to avoid building the hardware specific packages
-RUN cd /opt/ros/lcas; colcon build --packages-up-to limo_gazebosim; \
-    rm -rf /opt/ros/lcas/src/ /opt/ros/lcas/build/ /opt/ros/lcas/log/
-
-FROM depbuilder as devcontainer
-# add user ros with sudo rights if it doesn't exist
-RUN if ! id ros; then \
-        useradd -ms /bin/bash ros && echo "ros:ros" | chpasswd && adduser ros sudo; \
-        echo "ALL ALL=(ALL) NOPASSWD: ALL" >> /etc/sudoers; \
-        echo "source /opt/ros/humble/setup.bash" >> /etc/bash.bashrc; \
-    else echo "user ros already exists"; \
-    fi
-RUN echo "source /opt/ros/lcas/install/setup.bash" >> ~ros/.bashrc
 
 FROM devcontainer as compiled
 
-COPY ./src /opt/ros/lcas/src/teaching-code/src
+COPY ./src /opt/ros/lcas/src/workspace/src
 RUN . /opt/ros/lcas/install/setup.sh && \
     apt update && \
     rosdep --rosdistro=${ROS_DISTRO} update && \
-    rosdep install --from-paths /opt/ros/lcas/src/teaching-code/src --ignore-src -y && \
+    rosdep install --from-paths /opt/ros/lcas/src/workspace/src --ignore-src -y && \
     apt-get clean && \
     rm -rf /var/lib/apt/lists/*
 
-RUN cd /opt/ros/lcas && colcon build --packages-up-to uol_tidybot_control && \
+RUN cd /opt/ros/lcas && colcon build  && \
     rm -rf /opt/ros/lcas/src/ /opt/ros/lcas/build/ /opt/ros/lcas/log/
 
-RUN echo "source /opt/ros/lcas/install/setup.bash" >> ~/.bashrc
-RUN find /opt/ros/lcas/ 
-
 USER ros
+WORKDIR /home/ros
 ENV SHELL=/bin/bash

.devcontainer/devcontainer.json

@@ -9,12 +9,11 @@
 		"dockerfile": "./Dockerfile",
 		"args": {
 			// set the base image, add `-arm64` as a suffix if you have an ARM (e.g. Apple Mx) CPU:
-			"BASE_IMAGE": "lcas.lincoln.ac.uk/lcas/ros:jammy-humble-cuda12.2-opengl"
+			"BASE_IMAGE": "lcas.lincoln.ac.uk/lcas/limo_platform_amd64:1"
 		},
 		// change this to linux/arm64 if you have an ARM (e.g. Apple Mx) CPU:
 		"platform": "linux/amd64",
-		"context": "..",
-		"target": "devcontainer"
+		"context": ".."
 	},
 
 	// forward the virtual desktop port

.github/workflows/container-build.yml

@@ -1,31 +1,3 @@
-# ## Build OpenGL-supported Docker Images
-
-# This GitHub Actions workflow is triggered when there is a push to the `2425-devel` branch or when a tag is created. It also runs when there is a pull request to the `2425-devel` branch.
-
-# ### Jobs
-
-# #### build
-
-# This job runs on the `lcas` runner and defines a matrix strategy to build Docker images for different configurations.
-
-# ##### Matrix Configuration
-
-# The matrix configuration includes the following variables:
-
-# - `base_image`: The base image for the Docker image.
-# - `ros_distro`: The ROS (Robot Operating System) distribution.
-# - `robot_platform`: The platform for the robot.
-# - `push_tag`: The tag to be used when pushing the Docker image.
-
-# ##### Steps
-
-# The steps in the `build` job are as follows:
-
-# 1. Set up Node.js using the `actions/setup-node` action.
-# 2. Check out the repository using the `actions/checkout` action.
-# 3. Set the `BRANCH` environment variable to the branch name using a shell command.
-# 4. Log in to the Docker registry (`lcas.lincoln.ac.uk`) using the `docker/login-action` action. This step is skipped for pull request events.
-# 5. Build and push the Docker image using the `docker/build-push-action` action. The Dockerfile is located in the `.devcontainer/docker/ros2` directory. The image is built for the `linux/amd64` platform. The push is only performed for non-pull request events. The tags for the image are determined by the matrix configuration variables.
 
 name: Build Docker image
 
@@ -46,8 +18,7 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - base_image: lcas.lincoln.ac.uk/lcas/ros:jammy-humble-cuda12.2-opengl-1
-            ros_distro: humble
+          - base_image: lcas.lincoln.ac.uk/lcas/limo_platform_amd64:1
             push_image: lcas.lincoln.ac.uk/devcontainer/ros2-teaching
 
     steps:
@@ -59,12 +30,12 @@ jobs:
     - uses: actions/checkout@v3
       with:
         fetch-depth: 1
+        submodules: 'recursive'
 
     - name: What
       run: echo "BRANCH=${GITHUB_REF##*/}" >> $GITHUB_ENV
 
     - name: Docker Login LCAS
-      if: ${{ github.event_name != 'pull_request' }}
       uses: docker/login-action@v3
       with:
         registry: lcas.lincoln.ac.uk
@@ -102,7 +73,6 @@ jobs:
         build-args: |
             BASE_IMAGE=${{ matrix.base_image }}
             BRANCH=${{ env.BRANCH }}
-            ROS_DISTRO=${{ matrix.ros_distro }}
 
 
   build-arm-docker-image:
@@ -114,7 +84,7 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - base_image: lcas.lincoln.ac.uk/lcas/ros:jammy-humble-cuda12.2-opengl-arm64-1
+          - base_image: lcas.lincoln.ac.uk/lcas/limo_platform_arm64:1
             ros_distro: humble
             push_image: lcas.lincoln.ac.uk/devcontainer/ros2-teaching-arm64
 
@@ -127,12 +97,12 @@ jobs:
     - uses: actions/checkout@v3
       with:
         fetch-depth: 1
+        submodules: 'recursive'
 
     - name: What
       run: echo "BRANCH=${GITHUB_REF##*/}" >> $GITHUB_ENV
 
     - name: Docker Login LCAS
-      if: ${{ github.event_name != 'pull_request' }}
       uses: docker/login-action@v3
       with:
         registry: lcas.lincoln.ac.uk
@@ -171,5 +141,4 @@ jobs:
         build-args: |
             BASE_IMAGE=${{ matrix.base_image }}
             BRANCH=${{ env.BRANCH }}
-            ROS_DISTRO=${{ matrix.ros_distro }}
 

.github/workflows/devcontainer-ci.yml

@@ -18,13 +18,15 @@ jobs:
           node-version: "^16.13.0 || >=18.0.0"
       - name: Checkout (GitHub)
         uses: actions/checkout@v4
+        with:
+          fetch-depth: 1
+          submodules: 'recursive'
       - name: What
         run: echo "BRANCH=${GITHUB_REF##*/}" >> $GITHUB_ENV
       - name: Build container
-        if: ${{ github.event_name != 'pull_request' }} 
         uses: devcontainers/ci@v0.3
         with:
-          imageName: devcontainer/ros2-teaching
+          imageName: lcas.lincoln.ac.uk/devcontainer/ros2-teaching
           push: never
-          imageTag: ${{ env.BRANCH }}
+          imageTag: ci
           #runCmd: "bash .devcontainer/run-ci.sh"