Integrated prebuild.sh on container creation. colcon build works from…

… new containers

docker/manipulation/Dockerfile.cuda

@@ -13,8 +13,8 @@ RUN mkdir -p /workspace/requirements
 # Torch+GPU
 RUN pip3 install torch torchvision torchaudio --index-url https://download.pytorch.org/whl/cu118
 
-# ROS Requirements
-RUN apt update && apt install -y ros-humble-cv-bridge ros-humble-rviz2 ros-humble-moveit
+# ROS Requirements, will need several tools from desktop TODO: change desktop for specific dependencies
+RUN apt update && apt install -y ros-humble-desktop ros-humble-cv-bridge ros-humble-moveit
 
 # Python Requirements
 COPY manipulation/requirements.txt /workspace/requirements/requirements.txt
@@ -23,4 +23,9 @@ RUN pip3 install -r /workspace/requirements/requirements.txt
 RUN mkdir -p /workspace/src/home2
 RUN chown -R ros:ros /workspace
 
+# prebuild and more
+RUN git clone https://github.com/RoBorregos/home2 --recursive /workspace/src/home2
+RUN rosdep init && rosdep update && rosdep install --from-paths /workspace/src/home2 --ignore-src -r -y
+RUN rosdep fix-permissions
+
 ENTRYPOINT [ "/bin/bash", "-l", "-c" ]

docker/manipulation/run.sh

@@ -70,6 +70,7 @@ case $ENV_TYPE in
     check_image_exists "$CPU_IMAGE" || [ $rebuild -eq 1 ]
     if [ $? -eq 1 ]; then
         docker compose -f ../cpu.yaml build --build-arg "USER_UID=$(id -u)" --build-arg "USER_GID=$(id -g)"
+        rebuild=1
     fi
     ;;
   "cuda")
@@ -82,6 +83,7 @@ case $ENV_TYPE in
     check_image_exists "$CUDA_IMAGE" || [ $rebuild -eq 1 ]
     if [ $? -eq 1 ]; then
         docker compose -f ../cuda.yaml build --build-arg "USER_UID=$(id -u)" --build-arg "USER_GID=$(id -g)"
+        rebuild=1
     fi
 
     ;;
@@ -117,6 +119,15 @@ fi
 RUNNING_CONTAINER=$(docker ps -q -f "name=$CONTAINER_NAME")
 
 xhost +
+
+# if rebuild, run ./prebuild.sh
+if [ $rebuild -eq 1 ]; then
+    # Rebuild modifies lines on mounted files, so this is done after the container is started
+    # TODO: Is there a better way to do this?
+    echo "Running prebuild script..."
+    docker exec -it $CONTAINER_NAME /bin/bash -c "./src/home2/prebuild.sh"
+fi
+
 if [ -n "$RUNNING_CONTAINER" ]; then
     echo "Container $CONTAINER_NAME is already running. Executing bash..."
     docker exec -it $CONTAINER_NAME /bin/bash

manipulation/README.md

@@ -1,4 +1,4 @@
-# HRI
+# Manipulation
 
 Tree structure
 

prebuild.sh

@@ -57,7 +57,7 @@ rosdep install --from-paths . --ignore-src --skip-keys gpd
 GPD_DIR=$SCRIPT_DIR/manipulation/packages/gpd
 
 if [ ! -d "$GPD_DIR" ]; then
-    echo "Error: gdp does not exist"
+    echo "Error: GPD does not exist"
     git submodule update --init --recursive
 
 fi