build.bash

#!/usr/bin/env bash
#
# KumarRobotics DCIST Master based on Open Robotics Image
#
# * * * *
#
# Copyright (C) 2018 Open Source Robotics Foundation
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
set -eo pipefail

# Upstream images for x86_64 and arm64, for both Nvidia and non-Nvidia
# For x86_64 and arm64 non-Nvidia, use the Ubuntu 24.04 image
# For x86_64 Nvidia, use the CUDA 12.6.0 image
# For arm64 Nvidia, use the L4T PyTorch image
# Important: do not modify the variable name as it is used by the Github action
# to build the image
UPSTREAM_X86_64_NVDA=nvcr.io/nvidia/cuda:12.6.0-devel-ubuntu24.04
UPSTREAM_ARM64_NVDA=nvcr.io/nvidia/l4t-pytorch:r35.2.1-pth2.0-py3
UPSTREAM_X86_64_BARE=ubuntu:24.04
UPSTREAM_ARM64_BARE=ubuntu:24.04

# Check that the current user has UID 1000.
if [ "$(id -u)" -ne 1000 ]
then
  echo "ERROR: This script must be run with UID and GID of 1000."
  echo "       Current UID: $(id -u), current GID: $(id -g)"
  exit 1
fi

if [ $# -eq 0 ]
then
    echo "Usage: $0 directory-name"
    exit 1
elif [ $# -eq 1 ]
then
  # No image type is provided, build x86 by default
  echo "Building x86_64 image by default"
  upstream=$UPSTREAM_X86_64_BARE
  architecture="x86_64"
  bare_or_nvda="bare"
elif [ $# -eq 2 ]
then
  # The second argument should be x86_64_nvda arm64_nvda or x86_64
  if [ "$2" = "x86_64" ]
  then
    upstream=$UPSTREAM_X86_64_BARE
    bare_or_nvda="bare"
    architecture="x86_64"
  elif [ "$2" = "x86_64_nvda" ]
  then
    upstream=$UPSTREAM_X86_64_NVDA
    bare_or_nvda="nvda"
    architecture="x86_64"
  elif [ "$2" = "arm64" ]
  then
    echo "Architecture not supported"
    exit 1
  elif [ "$2" = "arm64_nvda" ]
  then
    upstream=$UPSTREAM_ARM64_NVDA
    bare_or_nvda="nvda"
    achitecture="amd64"
  else
    echo "Usage: $0 directory-name [x86_64|x86_64_nvda|arm64_nvda]"
    exit 1
  fi
else
  echo "Usage: $0 directory-name [x86_64|x86_64_nvda|arm64_nvda]"
  exit 1
fi

# Create the image name and tag
user_id=$(id -u)
image_name="$(basename "$1")-$bare_or_nvda"
revision=$(git describe --tags --long)
image_plus_tag=kumarrobotics/$image_name:$revision

# Print image name in purple
echo -e "\033[0;35mBuilding $image_plus_tag"
echo -e "Architecture: $architecture"
echo -e "Bare or NVDA: $bare_or_nvda"
echo -e "Upstream image: $upstream\n\033[0m"

# get path to current directory
DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"

if [ ! -d "$DIR/$1" ]
then
  echo "image-name must be a directory in the same folder as this script"
  exit 2
fi

# Build the image
docker build --rm -t $image_plus_tag \
  --build-arg user_id=$user_id \
  --build-arg UPSTREAM_IMAGE=$upstream \
  --build-arg ARCHITECTURE=$architecture \
  --build-arg BARE_OR_NVDA=$bare_or_nvda \
  -f $DIR/$1/Dockerfile .
echo "Built $image_plus_tag and tagged as $image_name:latest"

# Create "latest" tag
docker tag $image_plus_tag kumarrobotics/$image_name:latest