Merge pull request #34 from LCAS/copilot/fix-33

Fix Docker build failure: detectron2 editable install error due to missing torch

Author: marc-hanheide

.devcontainer/Dockerfile

@@ -1,8 +1,8 @@
 # syntax = devthefuture/dockerfile-x
 
-ARG BASE_IMAGE=lcas.lincoln.ac.uk/lcas/ros:jammy-humble-cuda11.8-opengl
+ARG BASE_IMAGE=lcas.lincoln.ac.uk/lcas/ros-docker-images:jammy-cuda11.8-humble-2
 ############################################################################################################
-FROM ${BASE_IMAGE} as base
+FROM ${BASE_IMAGE} AS base
 
 USER root
 
@@ -27,14 +27,14 @@ INCLUDE .devcontainer/docker_include/user_install.dockerfile
 
 ############################################################################################################
 # get the source tree and analyse it for its package.xml only
-FROM user_space as sourcefilter
+FROM user_space AS sourcefilter
 COPY . /tmp/src
 # remove everything that isn't package.xml
 RUN find /tmp/src -type f \! -name "package.xml" -print | xargs rm -rf
 
 ############################################################################################################
 # install all dependencies listed in the package.xml
-FROM user_space as depbuilder
+FROM user_space AS depbuilder
 # copy the reduced source tree (only package.xml) from previous stage
 COPY --from=sourcefilter /tmp/src /tmp/src
 RUN rosdep update && apt-get update
@@ -44,11 +44,44 @@ RUN cd /tmp/src && rosdep install --from-paths . --ignore-src -r -y && cd && rm
 RUN rm -rf /var/lib/apt/lists/* /tmp/* /var/tmp/*
 
 ############################################################################################################
-FROM depbuilder as final
+FROM depbuilder AS final
 
 USER $USER
 
 # include the file to configure the user's .bashrc
 INCLUDE .devcontainer/docker_include/bashrc_config.dockerfile
 
 CMD ["/bin/bash"]
+
+# Deploys the application to production environment after successful build and test stages
+# This stage handles the final deployment process including:
+# - Setting up production environment variables
+# - Deploying built artifacts to target infrastructure
+# - Performing post-deployment health checks
+# - Notifying relevant stakeholders of deployment status
+FROM depbuilder AS deployed
+
+USER root
+
+# Copy the entire source code to the workspace
+RUN mkdir -p ${COLCON_WS}/src
+COPY . ${COLCON_WS}/src/
+
+# Change ownership of the workspace to the user
+RUN chown -R ${USER}:${USER} ${COLCON_WS}
+
+USER $USER
+
+# Build the workspace
+WORKDIR ${COLCON_WS}
+RUN bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; \
+    colcon build --merge-install --cmake-args -DCMAKE_BUILD_TYPE=Release"
+
+# Source the workspace in the entrypoint
+RUN echo "source ${COLCON_WS}/install/setup.bash" >> ~/.bashrc
+
+# Set the working directory
+WORKDIR ${COLCON_WS}
+
+# Default command
+CMD ["/bin/bash"]

…vcontainer/cuda-opengl/devcontainer.json .devcontainer/devcontainer.json.devcontainer/cuda-opengl/devcontainer.json renamed to .devcontainer/devcontainer.json .devcontainer/cuda-opengl/devcontainer.json renamed to .devcontainer/devcontainer.json

@@ -4,12 +4,17 @@
 
 {
 	// Define the container name for easy identification
-	"name": "L-CAS Humble CUDA-OpenGL Devcontainer",
+	"name": "L-CAS Humble CUDA-OpenGL Devcontainer for AOC Fruit Detector",
 
-	// Specify the Docker Compose file(s) required to set up the dev container
-	"dockerComposeFile": ["../docker-compose.yml"],
-	"service": "fruit_detector",  // Define the main service to use in the container
+	// Use Dockerfile directly instead of docker-compose
+	"build": {
+		"dockerfile": "./Dockerfile",
+		"context": "..",
+		"target": "final"
+	},
 	"workspaceFolder": "/home/ros/fruit_detector_ws/",  // Path to the workspace within the container
+	"workspaceMount": "source=${localWorkspaceFolder},target=/home/ros/fruit_detector_ws/src,type=bind",  // Mount local workspace into the container
+	//"workspaceFolder": "/home/ros/fruit_detector_ws/",  // Path to the workspace within the container
 
 	// Forward specific ports from the container to the host machine
 	"forwardPorts": [5801],  // Port for remote desktop access
@@ -26,17 +31,39 @@
 	// "postCreateCommand": "sudo src/aoc_fruit_detector/.devcontainer/scripts/post-create.sh'",
 
 	// Define environment variables to facilitate mounting local source code
-	"remoteEnv": {
-		"LOCAL_WORKSPACE_FOLDER": "${localWorkspaceFolder}"  // Sets local workspace path in the container
-	},
+	// "remoteEnv": {
+	// 	"LOCAL_WORKSPACE_FOLDER": "${localWorkspaceFolder}"  // Sets local workspace path in the container
+	// },
 
 	"remoteUser": "ros",  // Set the default user inside the container
 	"updateRemoteUserUID": true,  // Align container user UID with host user for permission consistency
-	"shutdownAction": "stopCompose",  // Gracefully stop the Compose environment on shutdown
+	
+	"capAdd": ["NET_ADMIN"],
+	
+	// Container environment variables
+	"containerEnv": {
+		"HOST_USER": "${localEnv:USER}",
+		"HOST_HOSTNAME": "${localEnv:HOSTNAME}"
+	},
+	
+	// Mount additional volumes
+	"mounts": [
+		"source=/etc/timezone,target=/etc/timezone,type=bind,readonly",
+		"source=/etc/localtime,target=/etc/localtime,type=bind,readonly",
+		"source=/media,target=/media,type=bind"
+	],
+	
+	// Initialize command to set up networking
+	"initializeCommand": "echo 'Setting up devcontainer...'",
+	"postStartCommand": "/opt/entrypoint.sh /bin/true; ./src/.devcontainer/scripts/post-create.sh",  // Run post-create script to set up the environment
 
 	// VS Code customizations: Install specific extensions on container startup
 	"customizations": {
 		"vscode": {
+			"settings": {
+				"git.defaultCloneDirectory": "/home/ros/fruit_detector_ws/src",
+				"git.repositorySearchMaxDepth": 2
+			},
 			"extensions": [
 				"ms-python.python",  // Python support
 				"GitHub.vscode-pull-request-github",  // GitHub pull request and issue support
@@ -50,9 +77,7 @@
 	},
 
 	// Define minimum requirements for the host machine when running this container
-	// "hostRequirements": {
-	// 	"gpu": "optional",  // GPU support is optional, useful for CUDA if available
-	// 	"cpus": 2,  // Minimum 2 CPU cores recommended
-	// 	"memory": "8gb"  // Minimum 8GB RAM recommended
-	// }
+	"hostRequirements": {
+		"gpu": "optional"  // GPU support is optional, useful for CUDA if available
+	}
 }

.devcontainer/docker-compose.yml

@@ -1,9 +1,8 @@
-version: "3.8"
 services:
   fruit_detector:
     labels:
       - deploy.user=${USER}
-    image: lcas.lincoln.ac.uk/lcas/ros:jammy-humble-cuda11.8-opengl
+    image: lcas.lincoln.ac.uk/lcas/ros-docker-images:jammy-cuda11.8-humble-2
     build:
       dockerfile: .devcontainer/Dockerfile
       context: ..

.devcontainer/repos/external.repos

@@ -2,5 +2,5 @@ repositories:
   detectron2:
     type: git
     url: https://github.com/facebookresearch/detectron2.git
-    version: main
-    depth: 1
+    version: 754469e176b224d17460612bdaa2cb8112b04cd9
+    depth: 1

.devcontainer/scripts/install_external_ros_packages.sh

@@ -3,8 +3,16 @@
 # Exit immediately if a command exits with a non-zero status and enable debug mode for verbose output
 set -e -x
 
+# Deactivate virtual environment to use system Python and avoid conflicts
+# The base image has a virtual environment active in /opt/venv that needs to be deactivated
+unset VIRTUAL_ENV
+export PATH="/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin"
+export PYTHONPATH=""
+
+source /opt/ros/humble/setup.bash
+
 # Update rosdep database to ensure all dependencies are up-to-date
-rosdep update
+rosdep update --rosdistro ${ROS_DISTRO}
 sudo apt-get update 
 
 # Navigate to the src directory of the current workspace
@@ -22,7 +30,10 @@ vcs import < ${WS}/src/repos/external.repos
 # The '-y' flag automatically answers "yes" to any prompts
 rosdep install -r -y -i --from-paths .
 
-# Install Python dependencies for the ultralytics_ros package
-python3 -m pip install -e detectron2
+# Install detectron2 in editable mode
+
+#python3 -m pip install torch
+sudo pip install torch==2.7.0 torchvision==0.22.0 torchaudio==2.7.0 --index-url https://download.pytorch.org/whl/cu118
+sudo python -m pip install 'git+https://github.com/facebookresearch/detectron2.git@754469e176b224d17460612bdaa2cb8112b04cd9'
 
 echo "Setup complete."

.devcontainer/scripts/post-create.sh

@@ -1,5 +1,29 @@
 #!/bin/bash
 
 set -e -x
+sudo apt-get update
+sudo apt-get install net-tools -y 
+sudo ifconfig lo multicast || true
 
-colcon build 
+sudo route add -net 224.0.0.0 netmask 240.0.0.0 dev lo || true
+
+
+# Creates a colcon configuration directory and sets up default build options
+# - Creates ~/.colcon directory if it doesn't exist
+# - Generates a defaults.yaml file with symlink-install enabled for faster builds
+# - Symlink installation avoids copying files, making iterative development more efficient
+mkdir -p ${HOME}/.colcon
+cat << EOF > ${HOME}/.colcon/defaults.yaml
+{
+    "build": {
+        "symlink-install": true
+    }
+}
+EOF
+
+# network hack for DDS
+
+rosdep update --rosdistro ${ROS_DISTRO}
+rosdep install -y --from-paths src/ -i --rosdistro ${ROS_DISTRO} -r
+
+colcon build --continue-on-error

.github/workflows/dev-container.yml

@@ -16,7 +16,7 @@ jobs:
     strategy:
       matrix:
         include:
-          - configFile: .devcontainer/cuda-opengl/devcontainer.json
+          - configFile: .devcontainer/devcontainer.json
             imageTag: cuda-opengl-hri
     steps:
       - name: Node Js

.github/workflows/docker-build-image.yml

@@ -17,7 +17,7 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - base_image: lcas.lincoln.ac.uk/lcas/ros:jammy-humble-cuda11.8-opengl
+          - base_image: lcas.lincoln.ac.uk/lcas/ros-docker-images:jammy-cuda11.8-humble-2
             ros_distro: humble
             push_image: lcas.lincoln.ac.uk/lcas/aoc_fruit_detector
 
@@ -47,9 +47,13 @@ jobs:
         # list of Docker images to use as base name for tags
         images: |
           ${{ matrix.push_image }}
+        flavor: |
+          latest=auto
         tags: |
+          type=semver,pattern={{version}}
+          type=semver,pattern={{major}}.{{minor}}
+          type=semver,pattern={{major}}
           type=ref,event=branch,pattern=main
-          latest
 
     - name: Build Public Docker Image
       uses: docker/build-push-action@v6
@@ -60,8 +64,7 @@ jobs:
         push: ${{ github.event_name != 'pull_request' }}
         tags: ${{ steps.meta_public.outputs.tags }}
         labels: ${{ steps.meta_public.outputs.labels }}
-        target: user_space
-        #tags: ${{ matrix.push_image }},${{ matrix.push_image }}-${{ env.BRANCH }}
+        target: deployed
         build-args: |
             BASE_IMAGE=${{ matrix.base_image }}
             BRANCH=${{ env.BRANCH }}