Fix docker creation for Ubuntu 20.04 and 22.04 (StoglRobotics#83)

* Fix docker creation by dynamically adding ROS 1 repositories if Ubuntu 20.04 is used.

docs/docker/nvidia_docker/setup_nvidia_support.rst

@@ -157,14 +157,7 @@ Change the Dockerfile
 
    .. code-block:: bash
 
-      .\build_docker_image
-
-   to rebuild your container. After the rebuilt has finished you can recreate it with
-
-   .. code-block:: bash
-
-      .\create_docker_container
-
+      ./recreate_docker.sh
 
 You now should have a docker container which exposes your nvidia drivers and can switch to your workspace with ``rtw_switch_to_docker``.
 

docs/use-cases/operating_system/create_setup_workspace.rst

@@ -52,7 +52,7 @@ If you exited a container an want to reconnect as a user, you have to run the ``
 Recreate a container
 """"""""""""""""""""""
 
-If you removed an image,  you can recreate it by switching into the ``.rtw_docker_defines`` folder inside your workspace and then executing the ``.\build_docker_image`` command. After the container is rebuilt, you can create it with ``.\create_docker_container`` command. Thereafter, you should be able to normally start, reconnect and stop the container.
+If you removed an image,  you can recreate it by switching into the ``.rtw_docker_defines`` folder inside your workspace and then executing the ``./recreate_docker.sh`` command. After the process is finished you should be able to normally start, reconnect and stop the container.
 
 .. note::
   For more general questions on the usage of docker and the limitations of RosTeamWS in interacting with docker have a look at our :ref:`docker related docs<docker-overview>`.

scripts/_RosTeamWs_Defines.bash

@@ -315,16 +315,25 @@ function user_decision {
   local decision=$1
   user_answer=$2
 
-  echo -e "${TERMINAL_COLOR_USER_INPUT_DECISION}${decision}[${rtw_accepted_answers[*]}]${TERMINAL_COLOR_NC}"
+  echo -e "${TERMINAL_COLOR_USER_INPUT_DECISION}${decision}${TERMINAL_COLOR_NC} [${rtw_accepted_answers[*]}]"
   read user_answer
 
   while ! $(is_accepted_user_answer "$user_answer");
   do
-    echo -e "${TERMINAL_COLOR_USER_INPUT_DECISION}${decision} Please type one of the following: [${rtw_accepted_answers[*]}]${TERMINAL_COLOR_NC}"
+    echo -e "${TERMINAL_COLOR_USER_INPUT_DECISION}${decision}${TERMINAL_COLOR_NC} ${TERMINAL_COLOR_USER_NOTICE}Please type one of the following:${TERMINAL_COLOR_NC} [${rtw_accepted_answers[*]}]"
     read user_answer
   done
 }
 
+# function which prints a notification in predefined color scheme and wait for user confirmation
+# $1 - notification = The message which gets print to the commandline
+function user_confirmation {
+  notification=$1
+
+  echo -e "${TERMINAL_COLOR_USER_CONFIRMATION}${notification}${TERMINAL_COLOR_NC}"
+  read
+}
+
 function set_framework_default_paths {
   FRAMEWORK_NAME="ros_team_workspace"
   # readlink prints resolved symbolic links or canonical file names -> the "dir/dir_2/.." becomes "dir"

scripts/docker/_RosTeamWs_Docker_Defines.bash

@@ -40,7 +40,7 @@ build_docker_image () {
   prev_pwd=$(pwd)
   cd "$(dirname "$docker_file_path")" || { echo "Could not change directory to new workspace"; return 1; }
 
-  echo "Building docker image $docker_image_tag with docker file $docker_file_path. This can take a while..."
+  notify_user "Building docker image $docker_image_tag with docker file $docker_file_path. This can take a while..."
   sleep 1 # sleep a second, so that user can read above message
   docker build \
   --build-arg user=$USER \
@@ -89,7 +89,7 @@ create_docker_container() {
   fi
   # END: Needed for Nvidia support
 
-  echo "Instantiating docker image '$docker_image_tag' and mapping workspace folder to '$ws_folder'."
+  notify_user "Instantiating docker image '$docker_image_tag' and mapping workspace folder to '$ws_folder'."
   xhost +local:docker
   docker run \
   --net=host \

scripts/setup-ros-workspace.bash

@@ -122,7 +122,7 @@ setup_new_workspace () {
 
   # TODO(destogl): This is only temporarily solution until we offer different base-workspaces support (above commented lines)
   choice="0"
-  echo -e "${RTW_COLOR_NOTIFY_USER} The new workspace will base on currently sourced workspace or if none is sourced, '${ros_distro_base_workspace_source_path}' will be sourced."
+  notify_user "The new workspace will based on currently sourced workspace or if none is sourced, '${ros_distro_base_workspace_source_path}' will be sourced."
 
   if [ -z "$choice" ]; then
     print_and_exit "No workspace is chosen!" "$usage"
@@ -145,7 +145,7 @@ setup_new_workspace () {
   base_ws_path=""
 
   if [ -z "$ROS_DISTRO" ]; then
-    echo -e "${TERMINAL_COLOR_YELLOW}No workspace is sourced, sourcing: '${ros_distro_base_workspace_source_path}'${TERMINAL_COLOR_NC}"
+    notify_user "No workspace is sourced, sourcing: '${ros_distro_base_workspace_source_path}'"
     source ${ros_distro_base_workspace_source_path}
     base_ws_path="${ros_distro_base_workspace_source_path}"
   fi
@@ -163,10 +163,9 @@ setup_new_workspace () {
 
   # TODO: Add here output of the <current> WS
   echo ""
-  echo -e "${TERMINAL_COLOR_USER_NOTICE}ATTENTION: Creating a new workspace in folder \"${ws_path}\" for ROS \"${ros_distro}\" (ROS$ros_version) (full path: ${new_workspace_location}) using \"${base_ws}\" (${base_ws_path}) as base workspace.${TERMINAL_COLOR_NC}"
+  notify_user "ATTENTION: Creating a new workspace in folder \"${ws_path}\" for ROS \"${ros_distro}\" (ROS$ros_version) (full path: ${new_workspace_location}) using \"${base_ws}\" (${base_ws_path}) as base workspace."
   echo ""
-  echo -e "${TERMINAL_COLOR_USER_CONFIRMATION}If correct press <ENTER>, otherwise <CTRL>+C and start the script again from the package folder and/or with correct controller name.${TERMINAL_COLOR_NC}"
-  read
+  user_confirmation "If correct press <ENTER>, otherwise <CTRL>+C and start the script again from the package folder and/or with correct controller name."
 
   # TODO(destogl): This part with base workspaces should be updated!!! - this is obsolete logic
   # Create and initialise ROS-Workspace
@@ -362,6 +361,22 @@ create_workspace_docker () {
   if [[ "${ubuntu_version}" == *20.04* ]]; then
     DOCKER_FILE="$ws_docker_folder/Dockerfile"
     TMP_FILE="$ws_docker_folder/.tmp_Dockerfile"
+
+    # Add ROS 1 repositories
+    mv $DOCKER_FILE "$TMP_FILE"
+    TEST_LINE=`awk '$1 == "#" && $2 == "ROS2" && $3 == "repository" { print NR }' $TMP_FILE`  # get line before `# ROS2 repository`
+    let CUT_LINE=$TEST_LINE-1
+    head -$CUT_LINE $TMP_FILE > $DOCKER_FILE
+
+    echo "# ROS repository" >> $DOCKER_FILE
+    echo "RUN echo \"deb [arch=\$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros/ubuntu \$(lsb_release -sc) main\" | tee /etc/apt/sources.list.d/ros.list > /dev/null" >> $DOCKER_FILE
+    echo "" >> $DOCKER_FILE
+
+    # Add last part
+    let CUT_LINE=$TEST_LINE+0
+    tail -n +$CUT_LINE $TMP_FILE >> $DOCKER_FILE
+
+    # Add repositories for Nala
     mv $DOCKER_FILE "$TMP_FILE"
     TEST_LINE=`awk '$1 == "#" && $2 == "install" && $3 == "nala" { print NR }' $TMP_FILE`  # get line before `# install nala and upgrade` dependency
     let CUT_LINE=$TEST_LINE-0
@@ -376,6 +391,7 @@ create_workspace_docker () {
     let CUT_LINE=$TEST_LINE+2
     tail -n +$CUT_LINE $TMP_FILE >> $DOCKER_FILE
 
+    # Cleanup temp files
     rm $TMP_FILE
   fi
 

templates/docker/nvidia.dockerfile

@@ -43,9 +43,6 @@ RUN nala install -y curl gnupg gnupg2 lsb-release software-properties-common &&
 # Add key to keyring
 RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key  -o /usr/share/keyrings/ros-archive-keyring.gpg
 
-# ROS repository
-RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" | tee /etc/apt/sources.list.d/ros.list > /dev/null
-
 # ROS2 repository
 RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
 

templates/docker/recreate_docker.sh

@@ -13,7 +13,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-build_docker_image () {
+RTW_WS_build_docker_container_image () {
 
   local docker_image_tag=DUMMY_DOCKER_IMAGE_TAG
 
@@ -25,7 +25,7 @@ build_docker_image () {
   -t "$docker_image_tag" .
 }
 
-create_docker_container () {
+RTW_WS_create_docker_container_instance () {
 
   local docker_host_name=DUMMY_DOCKER_HOSTNAME
   local docker_image_tag=DUMMY_DOCKER_IMAGE_TAG
@@ -46,7 +46,7 @@ create_docker_container () {
   fi
   # END: Needed for Nvidia support
 
-  echo "Instantiating docker image '$docker_image_tag' and mapping workspace folder to '$ws_folder'."
+  notify_user "Instantiating docker image '$docker_image_tag' and mapping workspace folder to '$ws_folder'."
   xhost +local:docker
   docker run \
   --net=host \
@@ -64,5 +64,5 @@ create_docker_container () {
   -it "$docker_image_tag" /bin/bash
 }
 
-build_docker_image
-create_docker_container
+RTW_WS_build_docker_container_image
+RTW_WS_create_docker_container_instance

templates/docker/standard.dockerfile

@@ -40,9 +40,6 @@ RUN nala install -y curl gnupg gnupg2 lsb-release software-properties-common &&
 # Add key to keyring
 RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key  -o /usr/share/keyrings/ros-archive-keyring.gpg
 
-# ROS repository
-RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" | tee /etc/apt/sources.list.d/ros.list > /dev/null
-
 # ROS2 repository
 RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(source /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null