build: update dockerfiles (#153)

.devcontainer/devcontainer.json

@@ -1,22 +1,17 @@
 {
     "name": "control libraries",
-    "remoteUser": "ros2",
+    "remoteUser": "developer",
     "build": {
-        "dockerfile": "../Dockerfile.ci",
+        "dockerfile": "../Dockerfile",
         "context": "..",
-        "target": "development",
-        "args": {
-            "ROS2_VERSION": "humble",
-            "PINOCCHIO_TESTS": "OFF"
-        }
+        "target": "development"
     },
     "workspaceMount": "source=${localWorkspaceFolder},target=/src,type=bind,consistency=cached",
     "workspaceFolder": "/src",
     "customizations": {
         "vscode": {
             "extensions": [
-                "ms-vscode.cpptools-extension-pack",
-                "eamodio.gitlens"
+                "ms-vscode.cpptools-extension-pack"
             ]
         }
     }

.dockerignore

@@ -1 +1,3 @@
-source/*build*
+./build*
+./docs/
+./.*

.github/workflows/build-release.yaml

@@ -46,7 +46,7 @@ jobs:
         with:
           image_name: aica-technology/control-libraries
           image_tags: ${{ steps.merge-tags.outputs.list }}
-          dockerfile_path: Dockerfile.ci
+          dockerfile_path: Dockerfile
           token: ${{ secrets.GITHUB_TOKEN }}
 
   multi-arch:

.vscode/settings.json

@@ -1,5 +1,5 @@
 {
     "cmake.sourceDirectory": "/src/source",
     "cmake.configureArgs": [ "-DBUILD_TESTING=ON" ],
-    "C_Cpp.clang_format_style": "file:/home/ros2/.clang-format"
+    "C_Cpp.clang_format_style": "file:/guidelines/.clang-format"
 }

CHANGELOG.md

@@ -13,6 +13,7 @@ Release Versions:
 
 ## Upcoming changes (in development)
 
+- build: update dockerfiles (#153)
 - build: copy python packages into /usr instead of ~ros2 to avoid permission issues (#155)
 - feat: Add ParameterType conversion functions to go from enum to type label and the inverse (#154)
 

Dockerfile.ci → Dockerfile

@@ -1,6 +1,23 @@
-ARG ROS2_VERSION=humble
-FROM ghcr.io/aica-technology/ros2-ws:${ROS2_VERSION} as base
-USER ${USER}
+ARG BASE_TAG=22.04
+FROM ubuntu:${BASE_TAG} as base
+ENV DEBIAN_FRONTEND=noninteractive
+
+RUN apt-get update && apt-get install -y \
+    cmake \
+    g++ \
+    git \
+    libgtest-dev \
+    libeigen3-dev \
+    python3-pip \
+    ssh \
+    sudo \
+    && apt-get clean \
+    && rm -rf /var/lib/apt/lists/*
+
+RUN echo "Set disable_coredump false" >> /etc/sudo.conf
+
+# create the credentials to be able to pull private repos using ssh
+RUN mkdir /root/.ssh/ && ssh-keyscan github.com | tee -a /root/.ssh/known_hosts
 
 FROM base as apt-dependencies
 COPY apt-packages.tx[t] /
@@ -13,7 +30,7 @@ fi
 
 mkdir -p /tmp/apt
 
-sudo apt-get update
+apt-get update
 # We then do a dry-run and parse the output of apt to gather the list of packages to be installed
 # Example output:
 # ```
@@ -44,7 +61,7 @@ xargs -a /apt-packages.txt apt-get install --dry-run \
   | grep -e '^Inst ' \
   | sed -E 's/^Inst (\S+) .*$/\1/' > /tmp/new-packages.txt
 # Then we install apt packages like normal
-xargs -a /apt-packages.txt sudo apt-get install -y
+xargs -a /apt-packages.txt apt-get install -y
 # Finally we use dpkg to get all files installed by those packages and copy them to a new root
 #  - get list of files installed by all the packages
 #  - remove empty lines
@@ -64,7 +81,7 @@ COPY --from=apt-dependencies /tmp/apt /
 ARG TARGETPLATFORM
 ARG CACHEID
 ARG PINOCCHIO_TAG=v2.6.9
-ARG PINOCCHIO_TESTS=ON
+ARG PINOCCHIO_TESTS=OFF
 # FIXME: it would be nicer to have it all in the root CMakelists.txt but:
 #  * `pinocchio` doesn't provide an include directory we can easily plug into `target_include_directories` and thus needs to be installed first
 #  * `pinocchio` uses hacks relying on undocumented CMake quirks which break if you use `FetchContent`
@@ -101,9 +118,39 @@ FROM base as code
 WORKDIR /src
 COPY --from=apt-dependencies /tmp/apt /
 COPY --from=dependencies /tmp/deps /usr
-COPY --chown=${USER}:${USER} . /src
+COPY . /src
 
 FROM code as development
+# create and configure a new user
+ARG UID=1000
+ARG GID=1000
+ENV USER developer
+ENV HOME /home/${USER}
+
+RUN addgroup --gid ${GID} ${USER}
+RUN adduser --gecos "Remote User" --uid ${UID} --gid ${GID} ${USER} && yes | passwd ${USER}
+RUN usermod -a -G dialout ${USER}
+RUN echo "${USER} ALL=(ALL) NOPASSWD: ALL" > /etc/sudoers.d/99_aptget
+RUN chmod 0440 /etc/sudoers.d/99_aptget && chown root:root /etc/sudoers.d/99_aptget
+
+# Configure sshd server settings
+RUN ( \
+    echo 'LogLevel DEBUG2'; \
+    echo 'PubkeyAuthentication yes'; \
+    echo 'Subsystem sftp /usr/lib/openssh/sftp-server'; \
+  ) > /etc/ssh/sshd_config_development \
+  && mkdir /run/sshd
+
+# Configure sshd entrypoint to authorise the new user for ssh access and
+# optionally update UID and GID when invoking the container with the entrypoint script
+COPY ./docker/sshd_entrypoint.sh /sshd_entrypoint.sh
+RUN chmod 744 /sshd_entrypoint.sh
+
+RUN chown -R ${USER}:${USER} /src
+RUN mkdir /guidelines && cd /guidelines \
+  && wget https://raw.githubusercontent.com/aica-technology/.github/v0.9.0/guidelines/.clang-format
+
+USER ${USER}
 
 FROM code as build
 ARG TARGETPLATFORM
@@ -141,7 +188,7 @@ COPY --from=apt-dependencies /tmp/apt /
 COPY --from=dependencies /tmp/deps /usr
 COPY --from=install /tmp/cl /usr
 COPY --from=python /tmp/python-usr /usr
-RUN sudo pip install pybind11-stubgen
+RUN pip install pybind11-stubgen
 RUN --mount=type=cache,target=${HOME}/.cache,id=pip-${TARGETPLATFORM}-${CACHEID},uid=1000 \
 <<HEREDOC
 for PKG in state_representation dynamical_systems robot_model controllers clproto; do

VERSION

@@ -1 +1 @@
-7.3.2
+7.3.3

demos/CMakeLists.txt

@@ -15,7 +15,7 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-find_package(control_libraries 7.3.2 CONFIG REQUIRED)
+find_package(control_libraries 7.3.3 CONFIG REQUIRED)
 
 set(DEMOS_SCRIPTS
   task_space_control_loop

docker/sshd_entrypoint.sh

@@ -30,6 +30,9 @@ while [ "$#" -gt 0 ]; do
   esac
 done
 
+# define the home directory of the specified user
+HOME="/home/${USERNAME}"
+
 # update the USER_ID and GROUP_ID of the specified user
 if [ -n "${USER_ID}" ] && [ -n "${GROUP_ID}" ]; then
   groupmod -g "${GROUP_ID}" "${USERNAME}"
@@ -38,12 +41,15 @@ fi
 
 if [ -n "${PUBLIC_KEY}" ]; then
   # authorise the specified user for ssh login
-  HOME="/home/${USERNAME}"
   mkdir -p "${HOME}"/.ssh
   echo "${PUBLIC_KEY}" >"${HOME}"/.ssh/authorized_keys
   chmod -R 755 "${HOME}"/.ssh
   chown -R "${USERNAME}:${USERNAME}" "${HOME}"/.ssh
 fi
 
+# save all environment variables to a file (except those listed below) and source it when the specified user logs in
+env | egrep -v "^(HOME=|USER=|MAIL=|LC_ALL=|LS_COLORS=|LANG=|HOSTNAME=|PWD=|TERM=|SHLVL=|LANGUAGE=|_=)" >> /etc/environment
+echo "source /etc/environment" | cat - "${HOME}/.bashrc" > tmp && mv tmp "${HOME}/.bashrc"
+
 # start the ssh server
 /usr/sbin/sshd -D -e -f /etc/ssh/sshd_config_development

doxygen/doxygen.conf

@@ -38,7 +38,7 @@ PROJECT_NAME           = "Control Libraries"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER = 7.3.2
+PROJECT_NUMBER = 7.3.3
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a

protocol/clproto_cpp/CMakeLists.txt

@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.15)
 
-project(clproto VERSION 7.3.2)
+project(clproto VERSION 7.3.3)
 
 # Default to C99
 if(NOT CMAKE_C_STANDARD)

python/setup.py

@@ -11,7 +11,7 @@
 # names of the environment variables that define osqp and openrobots include directories
 osqp_path_var = 'OSQP_INCLUDE_DIR'
 
-__version__ = "7.3.2"
+__version__ = "7.3.3"
 __libraries__ = ['state_representation', 'clproto', 'controllers', 'dynamical_systems', 'robot_model']
 __include_dirs__ = ['include']
 

source/CMakeLists.txt

@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.15)
 
-project(control_libraries VERSION 7.3.2)
+project(control_libraries VERSION 7.3.3)
 
 # Build options
 option(BUILD_TESTING "Build all tests." OFF)