Add Docker development environment and install script for A25 #10
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This commit completes the Dockerfile started in A24 for installation pipeline validation, and updates the target to ROS2-Jazzy / Ubuntu 24.04 (in order to be compatible with the RPi5 for A25). The Docker image has been built and run successfully on Windows 11 (23H2) on amd64 architecture, and the baseline codebase (including ROS package dependencies) has been built succesfully inside the container. Note that the "test" program (`ros2 launch racecar_bringup teleop.launch.py`) has NOT been tested. Therefore, the baseline codebase SHOULD be tested with the proper hardware setup (i.e. racecar with RPi5 w/ Ubuntu24.04) BEFORE accepting this PR. This commit also adds utility scripts for building and running the Docker image on Windows, for ROS environment setup on entering the Docker container, and for building the ROS packages with `colcon`. NOTES: - The permissions for accessing the joystick controller and the TTY devices have NOT been given, and SHOULD be given BEFORE testing the baseline codebase; - The Dockerfile COULD (probably) be optimized to reduce the size of the image.
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I would gladly test the baseline codebase on the hardware if you could provide me with a (known-good) racecar. I can provide my own RPi5 (and Arduino Mega2560), but it has 8GB of RAM, and I think the racecar SHOULD be able to run on a RPi5 with 4GB RAM, so if you (SherbyRobotics, or the "Robotics department" of UdeS) could provide me with a 4GB model, it would be ideal. |
MarcOlivierFecteau
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The requirements for this feature state that the install script SHOULD be the same for both the Docker image and the direct installation on a RaspberryPi 5. Therefore, a more 'barebone' base Docker image is used, and the installation of the package dependencies was moved into the `ros_entrypoint.sh`. NOTES: - The install script was tested inside a Docker container running the `Ubuntu 24.04 amd64` base image from Windows 11 amd64. The install script SHOULD be tested (and validated) on a RaspberryPi 5 with a fresh install of Ubuntu 24.04 arm64 BEFORE merging the PR. - I tested the install script inside a Docker container running the `Ubuntu 24.04 arm64` bsae image from Windows 11 amd64, but I encountered the following issues: - The install script took more than 1 hour to run; - There were errors when trying to find certain packages or files.
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MarcOlivierFecteau
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This commit adds (temporary) Band-Aids to make the install script not crash: - `rosdep init` error due to existing list file; - hard-coded username for chown in `/` workaround; - add `--cmake-clean-cache` to `colcon build` and links it to `source` to avoid skipping build; The install script has been tested on an RPi5 8GB with an Ethernet connection. The install script took ~20 minutes to complete. However, the "test" ROS2 program (`racecar_teleop/teleop.launch.py`) is yet to be tested on a racecar. NOTES: - The install script can easily take 30+ minutes to complete on a RPi5 4GB with no heatsink/fan; - The "temporary" Band-Aids SHOULD be replaced before A25 for a more elegant solution.
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This commit completes the Dockerfile started in A24 for installation pipeline validation, and updates the target to ROS2-Jazzy / Ubuntu 24.04 (in order to be compatible with the RPi5 for A25). The Docker image has been built and run successfully on Windows 11 (23H2) on amd64 architecture, and the baseline codebase (including ROS package dependencies) has been built succesfully inside the container. Note that the "test" program (
ros2 launch racecar_bringup teleop.launch.py) has NOT been tested. Therefore, the baseline codebase SHOULD be tested with the proper hardware setup (i.e. racecar with RPi5 w/ Ubuntu24.04) BEFORE accepting this PR.This commit also adds utility scripts for building and running the Docker image on Windows, for ROS environment setup on entering the Docker container, and for building the ROS packages with
colcon.NOTES: