- Updates dockerfile with more required packages

- Changes docker compose to use ghcr images - FIxes tmusinator to specify docker compose yml
BumblebeeAS · Feb 10, 2024 · b319450 · b319450
1 parent b8b0cbf
commit b319450
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Showing 4 changed files with 19 additions and 17 deletions.
diff --git a/devcontainers/noetic/Dockerfile b/devcontainers/noetic/Dockerfile
@@ -69,6 +69,7 @@ RUN apt-get update && apt-get upgrade -y && \
     apt-get install -y \
     bash-completion \
     byzanz \
+    ccache \
     git \
     imagemagick \
     iputils-ping \
@@ -111,6 +112,7 @@ RUN pip3 install transforms3d ultralytics pandas numpy==1.21 opencv-python motra
 RUN apt-get update && apt-get install -y qtbase5-dev libqt5svg5-dev libzmq3-dev libdw-dev ros-noetic-ros-babel-fish \
 ros-$ROS_DISTRO-foxglove-bridge \
 ros-$ROS_DISTRO-map-server \
+ros-$ROS_DISTRO-octomap-server \
 ros-$ROS_DISTRO-rosmon \
 ros-$ROS_DISTRO-pybind11-catkin ros-$ROS_DISTRO-ros-numpy\
 && apt-get clean

diff --git a/docker-compose-uuv.yml b/docker-compose-uuv.yml
@@ -1,10 +1,10 @@
 version: '2.4'
 services:
   simulator:
-    # image: ghcr.io/bumblebeeas/simulator_uuv
-    build:
-      context: ./
-      dockerfile: ./simulators/simulator-uuv/Dockerfile
+    image: ghcr.io/bumblebeeas/simulator_uuv
+    # build:
+    #   context: ./
+    #   dockerfile: ./simulators/simulator-uuv/Dockerfile
     ipc: host
     network_mode: host
     security_opt:
@@ -36,10 +36,10 @@ services:
   workspace:
     # env_file:
     #   - .env
-    build:
-      context: ./
-      dockerfile: ./devcontainers/noetic/Dockerfile
-    #image: ghcr.io/ngxingyu/ros-devcontainer:noetic-dev
+    # build:
+    #   context: ./
+    #   dockerfile: ./devcontainers/noetic/Dockerfile
+    image: ghcr.io/bumblebeeas/ros-devcontainer:noetic-dev
     ipc: host
     network_mode: host
     security_opt:

diff --git a/tmuxinator/noetic.yml b/tmuxinator/noetic.yml
@@ -15,7 +15,7 @@ root: ~/bb/ros-devcontainer/
 # on_project_start: docker compose pull
 
 # Run on project start, the first time
-on_project_first_start: docker compose pull
+on_project_first_start: docker compose -f docker-compose-nosim-noetic.yml pull
 
 # Run on project start, after the first time
 # on_project_restart: command
@@ -24,7 +24,7 @@ on_project_first_start: docker compose pull
 # on_project_exit: command
 
 # Run on project stop
-on_project_stop: docker compose down
+on_project_stop: docker compose -f docker-compose-nosim-noetic.yml down
 
 # Runs in each window and pane before window/pane specific commands. Useful for setting up interpreter versions.
 # pre_window: rbenv shell 2.0.0-p247
@@ -50,7 +50,7 @@ windows:
       layout: main-vertical
       panes:
         - vglrun -d :0 docker compose -f docker-compose-nosim-noetic.yml up
-        - ./join.bash ros-devcontainer-workspace-1 "/ros_entrypoint.sh roscore"
+        # - ./join.bash ros-devcontainer-workspace-1 "/ros_entrypoint.sh roscore"
   - workspace:
       layout: main-vertical
       pre:

diff --git a/tmuxinator/uuv_sim.yml b/tmuxinator/uuv_sim.yml
@@ -15,7 +15,7 @@ root: ~/bb/ros-devcontainer/
 # on_project_start: command
 
 # Run on project start, the first time
-on_project_first_start: docker compose pull
+on_project_first_start: docker compose -f docker-compose-uuv.yml pull
 
 # Run on project start, after the first time
 # on_project_restart: command
@@ -24,7 +24,7 @@ on_project_first_start: docker compose pull
 # on_project_exit: command
 
 # Run on project stop
-on_project_stop: docker compose down
+on_project_stop: docker compose -f docker-compose-uuv.yml down
 
 # Runs in each window and pane before window/pane specific commands. Useful for setting up interpreter versions.
 # pre_window: rbenv shell 2.0.0-p247
@@ -50,20 +50,20 @@ windows:
       layout: tiled
       panes:
         - vglrun -d :0 docker compose -f docker-compose-uuv.yml up
+        - sleep 1s; ./join.bash ros-devcontainer-simulator-1 "/ros_entrypoint.sh roscore"
         # - ./join.bash ros-devcontainer-simulator-1 "/ros_entrypoint.sh ros2 launch vrx_gz competition.launch.py urdf:=bbasv3.urdf"
-        - ./join.bash ros-devcontainer-simulator-1 "/ros_entrypoint.sh roslaunch bbauv_gazebo_worlds sauvc_2024.launch gui:=false use_gt_odom:=false"
   - workspace:
       layout: tiled
       pre:
-        - sleep 2s
+        - sleep 4s
       # pre:
       #   - ./join.bash ros-devcontainer-workspace-1
       # Synchronize all panes of this window, can be enabled before or after the pane commands run.
       # 'before' represents legacy functionality and will be deprecated in a future release, in favour of 'after'
       # synchronize: after
       panes:
-        - ./join.bash ros-devcontainer-workspace-1 "/entrypoint.sh mon launch /workspace/src/bbauv4.launch"
-        - ./join.bash ros-devcontainer-workspace-1 "/entrypoint.sh rosrun auv_localization controls_interface_action_server.py"
+        - ./join.bash ros-devcontainer-simulator-1 "/ros_entrypoint.sh roslaunch bbauv_gazebo_worlds sauvc_2024.launch gui:=false use_gt_odom:=false x:=-24.2 y:=-8.5 z:=0 --wait"
+        - ./join.bash ros-devcontainer-workspace-1 "/entrypoint.sh rosrun rosmon rosmon /workspace/src/bbauv4.launch"
         - ./join.bash ros-devcontainer-workspace-1 "/entrypoint.sh roslaunch auv_localization auv4_localization.launch --wait"
         - ./join.bash ros-devcontainer-workspace-1 "/entrypoint.sh rviz -d /workspace/src/auv4.rviz"
         # - ./join.bash ros-devcontainer-workspace-1 "/entrypoint.sh roslaunch controlkit controlkit.launch ns:=auv4 --wait"