Merge pull request #49 from hsp-iit/feature/fix_docker_images

Yarp dependencies fixed - Yarp branch as Dockerfile arg

docker_stuff/docker_mng_vars.sh

@@ -1,6 +1,7 @@
 UBUNTU_DEF="ubuntu:22.04"
 CUDA_DEF="nvidia/cuda:11.7.1-cudnn8-devel-ubuntu22.04"
 ROS_DEF="iron"
+YARP_DEF="master"
 CUDA_SUFFIX="cuda.11.7.1-cudnn8"
 UBUNTU_SUFFIX="ubuntu22.04"
 DEVEL_SUFFIX="devel"

docker_stuff/docker_openPose/Dockerfile

@@ -24,9 +24,14 @@ RUN update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
 ENV LANG=en_US.UTF-8
 
 # Install yarp dependencies
-RUN echo "deb http://www.icub.org/ubuntu `lsb_release -cs` contrib/science" > /etc/apt/sources.list.d/icub.list
-RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 57A5ACB6110576A6
-RUN apt-get update && apt-get install -y icub-common libopencv-dev && sudo rm -rf /var/lib/apt/lists/*
+RUN apt-get update && apt-get install -y libode8 libace-dev libboost-filesystem-dev libboost-system-dev \
+    libboost-thread-dev libc6 python3 libgsl0-dev libncurses5-dev libsdl1.2-dev subversion git gfortran \
+    libxmu-dev libode-dev wget unzip qtbase5-dev qtdeclarative5-dev qtmultimedia5-dev libqt5svg5 \
+    libqt5opengl5-dev libopencv-dev freeglut3-dev libtinyxml-dev libblas-dev coinor-libipopt-dev \
+    liblapack-dev libmumps-dev qml-module-qtmultimedia qml-module-qtquick-dialogs qml-module-qtquick-controls \
+    qml-module-qt-labs-settings libqcustomplot-dev qml-module-qt-labs-folderlistmodel libedit-dev \
+    libeigen3-dev libjpeg-dev libsimbody-dev libxml2-dev libjs-underscore portaudio19-dev libgtkmm-2.4-dev \
+    libi2c-dev libv4l-dev
 
 # Create user: user1
 USER root
@@ -53,7 +58,7 @@ RUN git clone https://github.com/CMU-Perceptual-Computing-Lab/openpose && \
 RUN cd $user1_home/openpose && \
     mkdir build && \
     cd ./build && \
-    # Right now the following does not work. 
+    # Right now the following does not work.
     # https://github.com/CMU-Perceptual-Computing-Lab/openpose/issues/2233
     # You have to download the weights manually
     # cmake .. -DDOWNLOAD_HAND_MODEL=OFF -DUSE_CUDNN=OFF && \
@@ -75,7 +80,7 @@ ENV YCM_DIR=/home/user1/robotology/ycm/build
 # Build YARP
 USER $robotology_install_user
 WORKDIR $robotology_install_folder
-RUN git clone https://github.com/robotology/yarp.git -b master
+RUN git clone https://github.com/robotology/yarp.git -b yarp-3.9
 RUN cd yarp && mkdir build && cd build && \
     cmake .. \
     -DCMAKE_BUILD_TYPE=Release \

docker_stuff/docker_sim2/Dockerfile

@@ -3,13 +3,14 @@ FROM $base_img
 LABEL maintainer="Ettore Landini"
 
 ARG ros_distro
+ARG yarp_branch="master"
 
 # Non-interactive installation mode
 ENV DEBIAN_FRONTEND=noninteractive
 ENV DOCKER_UPDATED_ON=28_09_2022
 
 # Install essentials
-RUN apt-get update && apt-get install -y apt-utils software-properties-common sudo psmisc lsb-release \
+RUN apt-get update && apt-get install -y apt software-properties-common sudo psmisc lsb-release \
     tmux nano geany vim wget curl build-essential git gitk cmake cmake-curses-gui autoconf xserver-xorg-video-dummy xserver-xorg-legacy \
     net-tools terminator libjpeg-dev ffmpeg apt-transport-https ca-certificates gnupg libace-dev ycm-cmake-modules locales \
     python3-setuptools python3-pip iproute2 python3-tornado swig lsof iftop iputils-ping gdb bash-completion btop mlocate && rm -rf /var/lib/apt/lists/*
@@ -33,9 +34,14 @@ RUN apt-get update && apt-get upgrade -y && apt-get install -y ros-$ros_distro-d
     python3-pytest-rerunfailures python3-rosdep python3-vcstool && rosdep init && rm -rf /var/lib/apt/lists/*
 
 # Install yarp dependencies
-RUN echo "deb http://www.icub.org/ubuntu `lsb_release -cs` contrib/science" > /etc/apt/sources.list.d/icub.list
-RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 57A5ACB6110576A6
-RUN apt-get update && apt-get install -y icub-common libopencv-dev && sudo rm -rf /var/lib/apt/lists/*
+RUN apt-get update && apt-get install -y libode8 libace-dev libboost-filesystem-dev libboost-system-dev \
+    libboost-thread-dev libc6 python3 libgsl0-dev libncurses5-dev libsdl1.2-dev subversion git gfortran \
+    libxmu-dev libode-dev wget unzip qtbase5-dev qtdeclarative5-dev qtmultimedia5-dev libqt5svg5 \
+    libqt5opengl5-dev libopencv-dev freeglut3-dev libtinyxml-dev libblas-dev coinor-libipopt-dev \
+    liblapack-dev libmumps-dev qml-module-qtmultimedia qml-module-qtquick-dialogs qml-module-qtquick-controls \
+    qml-module-qt-labs-settings libqcustomplot-dev qml-module-qt-labs-folderlistmodel libedit-dev \
+    libeigen3-dev libjpeg-dev libsimbody-dev libxml2-dev libjs-underscore portaudio19-dev libgtkmm-2.4-dev \
+    libi2c-dev libv4l-dev
 
 # Create user: user1
 USER root
@@ -70,7 +76,7 @@ ENV YCM_DIR=/home/user1/robotology/ycm/build
 # Build YARP
 USER $robotology_install_user
 WORKDIR $robotology_install_folder
-RUN git clone https://github.com/robotology/yarp.git -b master
+RUN git clone https://github.com/robotology/yarp.git -b $yarp_branch
 RUN cd yarp && mkdir build && cd build && \
     cmake .. \
     -DCMAKE_BUILD_TYPE=Release \

docker_stuff/docker_sim2/manage-docker.sh

@@ -15,6 +15,8 @@ usage()
     echo "    -d, --devel                        Build/run the image with the '$DEVEL_SUFFIX' tag"
     echo "    -e, --repo  + \"repo_name\"          Build/run the image with the passed repository reference"
     echo "    -r, --ros_distro + \"distro_name\"   Build/run the image with the passed distro (the passed value will be also used to compose the image tag)"
+    echo "    -y, --yarp_branch + \"yarp branch\"  Build/run the image with the passed yarp branch (the passed value, if different from \"master\", will be also used to compose the image tag)."
+    echo "                                       If not passed, the branch used will be \"master\""
     echo "    -h, --help                         See current help"
     echo "If the parent image is not specified (neither -u nor -c), the '$UBUNTU_DEF' one will be used"
     echo "If the build type is not specified (neither -d nor -s), the '$DEVEL_SUFFIX' tag will be used"
@@ -86,6 +88,16 @@ get_opts()
                 ROS_SET=true
                 shift
                 ;;
+            -y|--yarp_vers)
+                if [[ $YARP_SET == "true" ]]; then
+                    echo "YARP branch already set already set"
+                    usage
+                fi
+                shift
+                YARP_BRANCH=$1
+                YARP_SET=true
+                shift
+                ;;
             -e|--repository)
                 if [[ $REPO_SET == "true" ]]; then
                     echo "Remote repository already set"
@@ -132,12 +144,14 @@ BASE_TAG_DEF="tourSim2"
 BUILD_SUFFIX=$DEVEL_SUFFIX
 VERSION="1.0.0"
 ROS_DISTRO=$ROS_DEF
+YARP_BRANCH=$YARP_DEF
 PARENT_SUFFIX=$UBUNTU_SUFFIX
 IMAGE_SET=false
 BUILD_SET=false
 GONNA_BUILD=false
 RUN_WITH_GPU=true
 ROS_SET=false
+YARP_SET=false
 IMAGE=$UBUNTU_DEF
 REPO=$REPO_DEF
 REPO_SET=false
@@ -149,10 +163,15 @@ BASE_TAG=$BASE_TAG_DEF
 # Get the options
 get_opts $@
 
-COMPLETE_IMAGE_NAME=$REPO$REPO_SEP$BASE_TAG$JUNCTION$PARENT_SUFFIX$JUNCTION$ROS_DISTRO$JUNCTION$BUILD_SUFFIX
+if [[ $YARP_BRANCH != "master" ]]; then
+    YARP_TAG=$YARP_BRANCH$JUNCTION
+fi
+COMPLETE_IMAGE_NAME=$REPO$REPO_SEP$BASE_TAG$JUNCTION$PARENT_SUFFIX$JUNCTION$ROS_DISTRO$JUNCTION$YARP_TAG$BUILD_SUFFIX
+
+echo $COMPLETE_IMAGE_NAME
 
 if [[ $GONNA_BUILD == "true" ]]; then
-    sudo docker build --build-arg base_img=$IMAGE --build-arg ros_distro=$ROS_DISTRO -t $COMPLETE_IMAGE_NAME .
+    sudo docker build --build-arg base_img=$IMAGE --build-arg ros_distro=$ROS_DISTRO --build-arg yarp_branch=$YARP_BRANCH  -t $COMPLETE_IMAGE_NAME .
 else
     sudo xhost +
     if [[ $RUN_WITH_GPU == "true" ]]; then

docker_stuff/docker_tourCore2/Dockerfile

@@ -3,6 +3,7 @@ FROM $base_img
 LABEL maintainer="Ettore Landini"
 
 ARG ros_distro
+ARG yarp_branch="master"
 
 # Non-interactive installation mode
 ENV DEBIAN_FRONTEND=noninteractive
@@ -33,9 +34,14 @@ RUN apt-get update && apt-get upgrade -y && apt-get install -y ros-$ros_distro-d
     python3-pytest-rerunfailures python3-rosdep python3-vcstool && rosdep init && rm -rf /var/lib/apt/lists/*
 
 # Install yarp dependencies
-RUN echo "deb http://www.icub.org/ubuntu `lsb_release -cs` contrib/science" > /etc/apt/sources.list.d/icub.list
-RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 57A5ACB6110576A6
-RUN apt-get update && apt-get install -y icub-common libopencv-dev && sudo rm -rf /var/lib/apt/lists/*
+RUN apt-get update && apt-get install -y libode8 libace-dev libboost-filesystem-dev libboost-system-dev \
+    libboost-thread-dev libc6 python3 libgsl0-dev libncurses5-dev libsdl1.2-dev subversion git gfortran \
+    libxmu-dev libode-dev wget unzip qtbase5-dev qtdeclarative5-dev qtmultimedia5-dev libqt5svg5 \
+    libqt5opengl5-dev libopencv-dev freeglut3-dev libtinyxml-dev libblas-dev coinor-libipopt-dev \
+    liblapack-dev libmumps-dev qml-module-qtmultimedia qml-module-qtquick-dialogs qml-module-qtquick-controls \
+    qml-module-qt-labs-settings libqcustomplot-dev qml-module-qt-labs-folderlistmodel libedit-dev \
+    libeigen3-dev libjpeg-dev libsimbody-dev libxml2-dev libjs-underscore portaudio19-dev libgtkmm-2.4-dev \
+    libi2c-dev libv4l-dev
 
 # Create user: user1
 USER root
@@ -67,7 +73,7 @@ ENV YCM_DIR=/home/user1/robotology/ycm/build
 # Build YARP
 USER $robotology_install_user
 WORKDIR $robotology_install_folder
-RUN git clone https://github.com/robotology/yarp.git -b master
+RUN git clone https://github.com/robotology/yarp.git -b ${yarp_branch}
 RUN cd yarp && mkdir build && cd build && \
     cmake .. \
     -DCMAKE_BUILD_TYPE=Release \

docker_stuff/docker_tourCore2/manage-docker.sh

@@ -15,6 +15,8 @@ usage()
     echo "    -d, --devel                        Build/run the image with the '$DEVEL_SUFFIX' tag"
     echo "    -e, --repo  + \"repo_name\"          Build/run the image with the passed repository reference"
     echo "    -r, --ros_distro + \"distro_name\"   Build/run the image with the passed distro (the passed value will be also used to compose the image tag)"
+    echo "    -y, --yarp_branch + \"yarp branch\"  Build/run the image with the passed yarp branch (the passed value, if different from \"master\", will be also used to compose the image tag)."
+    echo "                                       If not passed, the branch used will be \"master\""
     echo "    -h, --help                         See current help"
     echo "If the parent image is not specified (neither -u nor -c), the '$UBUNTU_DEF' one will be used"
     echo "If the build type is not specified (neither -d nor -s), the '$DEVEL_SUFFIX' tag will be used"
@@ -86,6 +88,16 @@ get_opts()
                 ROS_SET=true
                 shift
                 ;;
+            -y|--yarp_vers)
+                if [[ $YARP_SET == "true" ]]; then
+                    echo "YARP branch already set already set"
+                    usage
+                fi
+                shift
+                YARP_BRANCH=$1
+                YARP_SET=true
+                shift
+                ;;
             -e|--repository)
                 if [[ $REPO_SET == "true" ]]; then
                     echo "Remote repository already set"
@@ -132,12 +144,15 @@ BASE_TAG_DEF="tourCore2"
 BUILD_SUFFIX=$DEVEL_SUFFIX
 VERSION="1.0.0"
 ROS_DISTRO=$ROS_DEF
+YARP_BRANCH=$YARP_DEF
+YARP_TAG=""
 PARENT_SUFFIX=$UBUNTU_SUFFIX
 IMAGE_SET=false
 BUILD_SET=false
 GONNA_BUILD=false
 RUN_WITH_GPU=true
 ROS_SET=false
+YARP_SET=false
 IMAGE=$UBUNTU_DEF
 REPO=$REPO_DEF
 REPO_SET=false
@@ -149,10 +164,13 @@ BASE_TAG=$BASE_TAG_DEF
 # Get the options
 get_opts $@
 
-COMPLETE_IMAGE_NAME=$REPO$REPO_SEP$BASE_TAG$JUNCTION$PARENT_SUFFIX$JUNCTION$ROS_DISTRO$JUNCTION$BUILD_SUFFIX
+if [[ $YARP_BRANCH != "master" ]]; then
+    YARP_TAG=$YARP_BRANCH$JUNCTION
+fi
+COMPLETE_IMAGE_NAME=$REPO$REPO_SEP$BASE_TAG$JUNCTION$PARENT_SUFFIX$JUNCTION$ROS_DISTRO$JUNCTION$YARP_TAG$BUILD_SUFFIX
 
 if [[ $GONNA_BUILD == "true" ]]; then
-    sudo docker build --build-arg base_img=$IMAGE --build-arg ros_distro=$ROS_DISTRO -t $COMPLETE_IMAGE_NAME .
+    sudo docker build --build-arg base_img=$IMAGE --build-arg ros_distro=$ROS_DISTRO --build-arg yarp_branch=$YARP_BRANCH  -t $COMPLETE_IMAGE_NAME .
 else
     sudo xhost +
     if [[ $RUN_WITH_GPU == "true" ]]; then