Update images to fix whole pipeline

Update superbuild base, withuser and robometry images to check fix on superbuidl with robometry compilation Add superbuild-gazebo to stale images. It needs to be revised.
icub-tech-iit · Jan 13, 2025 · 4392bba · 4392bba
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diff --git a/.github/workflows/onCodeChanges.yml b/.github/workflows/onCodeChanges.yml
@@ -333,10 +333,11 @@ jobs:
 
   ##################### Command to set the tag for the date argument ######################
         - name: set date argument for Docker build
+          id: get_date
           run: |
             echo "$(date +'%d/%m/%Y')" > DATE_
             echo "metadata=$(cat DATE_)" > DATE_TAG
-            echo $(cat DATE_TAG)
+            echo $(cat DATE_TAG) >> $GITHUB_OUTPUT
           
  ##################### Here we check the release version and replace Custom with stable only for the image name ######################
         - name: Get release / master version

diff --git a/deprecated_images/demos/moveit-gazebo/Dockerfile b/deprecated_images/demos/moveit-gazebo/Dockerfile
@@ -0,0 +1,71 @@
+#here add all stuff necessary to run redball demo in gazebo
+#start from image passed by argument during build process.
+ARG START_IMG="none"
+ARG METADATA_FILE="/usr/local/bin/setup_metadata.sh"
+ARG PROJECTS_DIR=/projects
+ARG ROS2_WORKSPACE=ros2_ws
+
+FROM $START_IMG as builder
+
+ENV DEBIAN_FRONTEND=noninteractive
+
+LABEL maintainer="[email protected], [email protected]"
+
+# Args used as env variables always goes after FROM otherwise they are overridden
+ARG PROJECTS_DIR
+ARG ROS2_WORKSPACE
+
+ARG CMAKE_EXTRA_OPTIONS=-j4
+
+#The EXPOSE instruction does not actually publish the port.
+#It functions as a type of documentation between the person who builds the image and the person who runs the container, about which ports are intended to be published.
+#To actually publish the port when running the container, use the -p flag on docker run to publish and map one or more ports, or the -P flag to publish all exposed ports and map them to high-order ports.
+EXPOSE 10000/tcp 10000/udp
+
+# Some QT-Apps don't show controls without this
+ENV QT_X11_NO_MITSHM 1
+ENV YARP_COLORED_OUTPUT=1
+
+WORKDIR /
+
+# Install gazebo
+RUN apt update && apt install -y \
+    gazebo
+
+RUN apt update && apt install -y \
+    ros-humble-gazebo-msgs \
+    ros-humble-gazebo-ros \
+    ros-humble-moveit \
+    ros-humble-moveit-visual-tools \
+    ros-humble-ros2-controllers \
+    ros-humble-moveit-ros-planning-interface
+
+RUN echo 'export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp' >> /usr/local/bin/setup_robotology_tdd.sh
+
+# Install nlop (non-linear optimization needed for building trac_ik)
+RUN bash -c "mkdir -p ${PROJECTS_DIR} && cd ${PROJECTS_DIR} &&\
+    git clone https://github.com/stevengj/nlopt.git &&\
+    cd nlopt &&\
+    mkdir build &&\
+    cd build &&\
+    cmake .. &&\
+    make &&\
+    make install"
+
+RUN bash -c "mkdir -p ${PROJECTS_DIR}/${ROS2_WORKSPACE}/src && cd ${PROJECTS_DIR}/${ROS2_WORKSPACE}/src &&\
+    source /opt/ros/humble/setup.bash &&\
+    git clone https://bitbucket.org/traclabs/trac_ik.git -b rolling-devel &&\
+    cd trac_ik &&\
+    colcon build &&\
+    source install/setup.bash"
+
+RUN bash -c "cd ${PROJECTS_DIR}/${ROS2_WORKSPACE}/src &&\
+    source /opt/ros/humble/setup.bash &&\
+    git clone https://github.com/icub-tech-iit/xcub-moveit2 &&\
+    cd .. &&\
+    colcon build &&\
+    source install/setup.bash"
+
+ENTRYPOINT [ "/usr/local/bin/entrypoint.sh" ]
+CMD ["bash"]
+
diff --git a/deprecated_images/demos/moveit-gazebo/conf_build.ini b/deprecated_images/demos/moveit-gazebo/conf_build.ini
@@ -0,0 +1,9 @@
+[sources]
+START_IMG={{env.REGISTRY}}/{{env.REPOSITORY_NAME}}/{{env.IMAGE_PREFIX}}superbuild-ros2:{{steps.get_version.outputs.VERSION}}{{steps.get_version.outputs.TAG}}_sources
+metadata={{steps.get_date.outputs.DATE_HOUR}}
+release={{steps.get_version.outputs.VERSION}}
+sbtag={{matrix.tag}}
+
+[tag]
+{{matrix.apps}}:{{steps.get_version.outputs.VERSION}}{{steps.get_version.outputs.TAG}}
+
diff --git a/...ges/basic/superbuild-gazebo/entrypoint.sh → ..._images/demos/moveit-gazebo/entrypoint.sh b/...ges/basic/superbuild-gazebo/entrypoint.sh → ..._images/demos/moveit-gazebo/entrypoint.sh
diff --git a/...images/basic/superbuild-gazebo/Dockerfile → ...cated_images/superbuild-gazebo/Dockerfile b/...images/basic/superbuild-gazebo/Dockerfile → ...cated_images/superbuild-gazebo/Dockerfile
@@ -1,11 +1,11 @@
 ARG START_IMG="none"
 ARG PROJECTS_DIR=/projects
-ARG INSTALL_DIR="/usr/local"
+ARG INSTALL_DIR=/usr/local
 ARG ROBOTOLOGY_INITIALIZATION_FILE=/usr/local/bin/setup_robotology_tdd.sh
 ARG METADATA_FILE=/usr/local/bin/setup_metadata.sh
 ARG GAZEBO_VER=11
-ARG release="master"
-ARG sbtag="Unstable"
+ARG release="none"
+ARG sbtag="none"
 ARG metadata="none"
 
     # Start from a ubuntu image plus mesa library recompiled with specific configuration
@@ -17,21 +17,22 @@ ENV DEBIAN_FRONTEND=noninteractive
 
     # Some definitions
 ARG CMAKE_GENERATOR="Unix Makefiles"
-ARG SOURCES_BUILD_TYPE=RelWithDebInfo
-ARG CMAKE_EXTRA_OPTIONS=-j2
+# ARG SOURCES_BUILD_TYPE=RelWithDebInfo
+ARG CMAKE_EXTRA_OPTIONS=-j4
 ARG BUILD_TYPE=Release
-    # Variables defined before the first FROM can be accessed in all stages but they need to be re-declared
+
+# Variables defined before the first FROM can be accessed in all stages but they need to be re-declared
 ARG GAZEBO_VER
 ARG release
 ARG sbtag
 ARG PROJECTS_DIR
 ARG INSTALL_DIR
 
 
-    # Create a new runtimeusers group 
+# Create a new runtimeusers group  (why we are doing this)
 RUN groupadd -K GID_MIN=100 -K GID_MAX=499 runtimeusers
 
-    # Install dependencies given in documentation in superbuild
+# Install dependencies given in documentation in superbuild
 RUN mkdir -p /etc/bash_completion.d/ && \
     # apt-get update and apt-get install should always be in the same layer to prevent caching errors
     apt-get update && \
@@ -47,24 +48,21 @@ RUN mkdir -p /etc/bash_completion.d/ && \
         lsb-release \
         vim
 
-    # Get gazebo from the osrf repo
-RUN echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" \
-        > /etc/apt/sources.list.d/gazebo-stable.list &&\
-    wget http://packages.osrfoundation.org/gazebo.key -O - | apt-key add - &&\
-    apt-get update &&\
-    apt install -y gazebo${GAZEBO_VER} libgazebo${GAZEBO_VER}-dev
+# Get gazebo from apt
+RUN apt-get update &&\
+    apt install -y gazebo libgazebo-dev libgazebo${GAZEBO_VER}
 
 RUN mkdir ${PROJECTS_DIR} && cd ${PROJECTS_DIR} &&\
     # Clone relevant repos
     git clone https://github.com/robotology/robotology-superbuild.git &&\
-    git clone https://github.com/robotology/cer.git &&\
-    git clone https://github.com/robotology/cer-sim.git &&\
-    git clone https://github.com/robotology/navigation.git &&\
+    # git clone https://github.com/robotology/cer.git &&\
+    # git clone https://github.com/robotology/cer-sim.git &&\
+    # git clone https://github.com/robotology/navigation.git &&\
     git clone https://github.com/icub-tech-iit/appsAway.git &&\
-    git clone https://github.com/robotology/icub-models.git --depth 1 --branch devel &&\
+    # git clone https://github.com/robotology/icub-models.git --depth 1 --branch devel &&\
     chmod -R g+rw ${PROJECTS_DIR}
 
-    # Build robotology-superbuild
+# Build robotology-superbuild
 RUN cd ${PROJECTS_DIR}/robotology-superbuild &&\
     git checkout ${release} &&\
     # Add no-install-recommends to robotology libraries
@@ -88,7 +86,7 @@ RUN cd ${PROJECTS_DIR}/robotology-superbuild &&\
     # Remove build directory
     rm -rf /projects/robotology-superbuild/build/src
 
-    # Build checkRobotInterface
+# Build checkRobotInterface
 RUN cd ${PROJECTS_DIR}/appsAway/modules/checkRobotInterface && \ 
     mkdir build && cd build && \
     cmake .. \
@@ -100,44 +98,44 @@ RUN cd ${PROJECTS_DIR}/appsAway/modules/checkRobotInterface && \
     # Remove build directory
     rm -rf ${PROJECTS_DIR}/appsAway/modules/checkRobotInterface/build 
 
-    # Build icub-models
-RUN cd ${PROJECTS_DIR}/icub-models && mkdir build && cd build && \
-    cmake .. \
-    -DCMAKE_BUILD_TYPE=${SOURCES_BUILD_TYPE} && \
-    make install && \
-    # Remove build directory
-    rm -rf ${PROJECTS_DIR}/icub-models/build 
-
-    # Build CER
-RUN cd ${PROJECTS_DIR}/cer && \
-    git checkout devel &&\
-    mkdir build && cd build &&\
-    cmake .. \
-    -G "$CMAKE_GENERATOR" \
-    -DCMAKE_BUILD_TYPE=${BUILD_TYPE} \
-    -D ENABLE_cermod_cerDoubleLidar=ON \
-    -DENABLE_faceExpressionImage=ON \
-    -DGAZEBO_TRIPOD_PLUGIN=ON && \
-    cmake --build . -- ${CMAKE_EXTRA_OPTIONS} 
-    # Remove build directory
-    # rm -rf ${PROJECTS_DIR}/cer/build
+#     # Build icub-models
+# RUN cd ${PROJECTS_DIR}/icub-models && mkdir build && cd build && \
+#     cmake .. \
+#     -DCMAKE_BUILD_TYPE=${SOURCES_BUILD_TYPE} && \
+#     make install && \
+#     # Remove build directory
+#     rm -rf ${PROJECTS_DIR}/icub-models/build 
+
+#     # Build CER
+# RUN cd ${PROJECTS_DIR}/cer && \
+#     git checkout devel &&\
+#     mkdir build && cd build &&\
+#     cmake .. \
+#     -G "$CMAKE_GENERATOR" \
+#     -DCMAKE_BUILD_TYPE=${BUILD_TYPE} \
+#     -D ENABLE_cermod_cerDoubleLidar=ON \
+#     -DENABLE_faceExpressionImage=ON \
+#     -DGAZEBO_TRIPOD_PLUGIN=ON && \
+#     cmake --build . -- ${CMAKE_EXTRA_OPTIONS} 
+#     # Remove build directory
+#     # rm -rf ${PROJECTS_DIR}/cer/build
 
-    # Build Navigation
-RUN cd ${PROJECTS_DIR}/navigation && \
-    mkdir build && cd build &&\
-    cmake .. \
-    -G "$CMAKE_GENERATOR" \
-    &&\
-    cmake --build . -- ${CMAKE_EXTRA_OPTIONS} &&\
-    make install && \
-    rm -rf ${PROJECTS_DIR}/navigation/build
-
-    # Using Multi-Stage Builds
-    # We use a middle stage because several COPY commands with hardlinks and softlinks generate duplication
+#     # Build Navigation
+# RUN cd ${PROJECTS_DIR}/navigation && \
+#     mkdir build && cd build &&\
+#     cmake .. \
+#     -G "$CMAKE_GENERATOR" \
+#     &&\
+#     cmake --build . -- ${CMAKE_EXTRA_OPTIONS} &&\
+#     make install && \
+#     rm -rf ${PROJECTS_DIR}/navigation/build
+
+# Using Multi-Stage Builds
+# We use a middle stage because several COPY commands with hardlinks and softlinks generate duplication
 FROM $START_IMG as middlestage
 
 
-    # Variables defined before the first FROM can be accessed in all stages but they need to be re-declared
+# Variables defined before the first FROM can be accessed in all stages but they need to be re-declared
 ARG PROJECTS_DIR
 ARG ROBOTOLOGY_INITIALIZATION_FILE
 ARG INSTALL_DIR
@@ -163,13 +161,12 @@ RUN echo "source ${INSTALL_DIR}/share/robotology-superbuild/setup.sh" >> $ROBOTO
 
 FROM scratch
 
-    # Variables defined before the first FROM can be accessed in all stages but they need to be re-declared
+# Variables defined before the first FROM can be accessed in all stages but they need to be re-declared
 ARG PROJECTS_DIR
 ARG INSTALL_DIR
-ARG GAZEBO_VER
+ARG ROBOTOLOGY_INITIALIZATION_FILE
 ARG release
 ARG sbtag
-ARG ROBOTOLOGY_INITIALIZATION_FILE
 ARG metadata
 
 COPY --from=middlestage / /
@@ -181,7 +178,7 @@ ENV GAZEBO_MODEL_PATH=/usr/local/share/gazebo/models:/usr/local/share/iCub/robot
 ENV GAZEBO_MODEL_DATABASE_URI=http://gazebosim.org/models 
 ENV GAZEBO_RESOURCE_PATH=/usr/local/share/gazebo/worlds 
 ENV GAZEBO_MASTER_URI=http://localhost:11345 
-ENV YARP_DATA_DIRS=${PROJECTS_DIR}/cer/build/share/CER:${PROJECTS_DIR}/cer/build/share/CER/robots/CER01:/usr/local/share/navigation 
+# ENV YARP_DATA_DIRS=${PROJECTS_DIR}/cer/build/share/CER:${PROJECTS_DIR}/cer/build/share/CER/robots/CER01:/usr/local/share/navigation 
 ENV QT_X11_NO_MITSHM=1 
 ENV YARP_COLORED_OUTPUT=1 
 ENV img_metadata=${metadata}
@@ -190,6 +187,4 @@ EXPOSE 10000/tcp 10000/udp
 
 ENTRYPOINT [ "/usr/local/bin/entrypoint.sh" ]
 
-CMD ["bash"]
-
-
+CMD ["bash"]
diff --git a/...c/superbuild-gazebo/Dockerfile4Production → ...s/superbuild-gazebo/Dockerfile4Production b/...c/superbuild-gazebo/Dockerfile4Production → ...s/superbuild-gazebo/Dockerfile4Production
@@ -25,4 +25,4 @@ ENV YARP_ROBOT_NAME="iCubGazeboV2_5"
 ENV QT_X11_NO_MITSHM=1 
 ENV YARP_COLORED_OUTPUT=1 
 
-CMD ["bash"]
+CMD ["bash"]
diff --git a/...es/basic/superbuild-gazebo/conf_build.ini → ...d_images/superbuild-gazebo/conf_build.ini b/...es/basic/superbuild-gazebo/conf_build.ini → ...d_images/superbuild-gazebo/conf_build.ini
@@ -1,15 +1,15 @@
 [sources]
-START_IMG=ubuntu:focal
-$(cat DATE_TAG)
+START_IMG=ubuntu:jammy
+metadata={{steps.get_date.outputs.DATE_HOUR}}
 release={{steps.get_version.outputs.VERSION}}
 sbtag={{matrix.tag}}
 
 [binaries]
 SOURCE_IMG={{env.DEFAULT_USER}}/{{matrix.apps}}:{{steps.get_version.outputs.VERSION}}{{steps.get_version.outputs.TAG}}_sources
-START_IMG=ubuntu:focal
+START_IMG=ubuntu:jammy
 
 [tag]
 {{matrix.apps}}:{{steps.get_version.outputs.VERSION}}{{steps.get_version.outputs.TAG}}
 
 
-[superbuild]
+[superbuild]
diff --git a/deprecated_images/superbuild-gazebo/entrypoint.sh b/deprecated_images/superbuild-gazebo/entrypoint.sh
@@ -0,0 +1,15 @@
+#!/bin/bash
+set -e
+
+if [ -z "$(which setup_robotology_tdd.sh)" ] ; then
+    echo "File setup_robotology_tdd.sh not found."
+    exit 1
+fi
+
+source setup_robotology_tdd.sh
+
+echo "[ -r /usr/share/bash-completion/bash_completion   ] && . /usr/share/bash-completion/bash_completion" >> /root/.bashrc
+echo "[ -r /usr/local/bin/setup_robotology_tdd.sh   ] && . /usr/local/bin/setup_robotology_tdd.sh" >> /root/.bashrc
+
+# If a CMD is passed, execute it
+exec "$@"
diff --git a/...e_images/basic/superbuild-gazebo/setup.sh → deprecated_images/superbuild-gazebo/setup.sh b/...e_images/basic/superbuild-gazebo/setup.sh → deprecated_images/superbuild-gazebo/setup.sh
diff --git a/dockerfile_images/basic/superbuild-icubhead-robometry/Dockerfile b/dockerfile_images/basic/superbuild-icubhead-robometry/Dockerfile
@@ -4,7 +4,7 @@ ARG SOURCE_IMG="none"
 
 ARG HOME_DIR=/home/icub
 ARG PROJECTS_DIR=${HOME_DIR}/projects
-ARG INSTALL_DIR=${HOME_DIR}/install_dir
+ARG INSTALL_DIR=${PROJECTS_DIR}/robotology-superbuild/build/install
 ARG release="master"
 ARG sbtag="Stable"
 ARG metadata="data"
@@ -14,7 +14,7 @@ ARG ROBOTOLOGY_INITIALIZATION_FILE=/usr/local/bin/setup_robotology_tdd.sh
 # Define default user
 ARG USERNAME=icub
 
-FROM $SOURCE_IMG as superbuild_builder
+FROM $SOURCE_IMG AS superbuild_builder
 
 LABEL maintainer="[email protected], [email protected]"
 
@@ -48,6 +48,7 @@ RUN cd ${PROJECTS_DIR}/robotology-superbuild &&\
     cd build &&\
     cmake .. \
     -G "$CMAKE_GENERATOR" \
+        -DCMAKE_INSTALL_PREFIX=${INSTALL_DIR} \
         -DCMAKE_BUILD_TYPE=${BUILD_TYPE} \
         -DNON_INTERACTIVE_BUILD:BOOL=ON \
         -DROBOTOLOGY_ENABLE_CORE:BOOL=ON \
@@ -57,11 +58,9 @@ RUN cd ${PROJECTS_DIR}/robotology-superbuild &&\
         -DYCM_USE_DEPRECATED:BOOL=OFF \
         -DROBOTOLOGY_USES_GAZEBO=OFF \
         -DROBOTOLOGY_PROJECT_TAGS=${sbtag} \
-        -DYCM_EP_INSTALL_DIR=${INSTALL_DIR} \
-        -DENABLE_yarpmod_grabber:BOOL=ON \
+        -DYCM_USE_CMAKE_PROPOSED=ON \
         &&\
         # Build all the projects
-        cmake --build . --target update-all -- ${CMAKE_EXTRA_OPTIONS} &&\
         cmake --build . -- ${CMAKE_EXTRA_OPTIONS}
 
 FROM scratch

diff --git a/dockerfile_images/basic/superbuild-icubhead-robometry/conf_build.ini b/dockerfile_images/basic/superbuild-icubhead-robometry/conf_build.ini
@@ -1,6 +1,6 @@
 [sources]
 SOURCE_IMG={{env.REGISTRY}}/{{env.REPOSITORY_NAME}}/{{env.IMAGE_PREFIX}}superbuild-icubhead-withuser:{{steps.get_version.outputs.VERSION}}{{steps.get_version.outputs.TAG}}_sources
-metadata=$(cat DATE_TAG)
+metadata={{steps.get_date.outputs.DATE_HOUR}}
 release={{steps.get_version.outputs.VERSION}}
 sbtag={{matrix.tag}}