From c7fc6ac6091511f17e7a4650dab8d860727382a6 Mon Sep 17 00:00:00 2001
From: Levi Armstrong <levi.armstrong@gmail.com>
Date: Thu, 7 Mar 2024 11:25:26 -0600
Subject: [PATCH] Add Docker build

---
 .github/workflows/docker.yml | 63 ++++++++++++++++++++++++++++++++++++
 docker/Dockerfile            | 25 ++++++++++++++
 docker/README.md             | 28 ++++++++++++++++
 docker/docker-compose.yml    | 14 ++++++++
 4 files changed, 130 insertions(+)
 create mode 100644 .github/workflows/docker.yml
 create mode 100644 docker/Dockerfile
 create mode 100644 docker/README.md
 create mode 100644 docker/docker-compose.yml

diff --git a/.github/workflows/docker.yml b/.github/workflows/docker.yml
new file mode 100644
index 00000000..dd9381d5
--- /dev/null
+++ b/.github/workflows/docker.yml
@@ -0,0 +1,63 @@
+name: Docker
+
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+    paths:
+      - 'docker/Dockerfile'
+      - '.github/workflows/docker.yml'
+  release:
+    types:
+      - released
+
+jobs:
+  ci:
+    name: ${{ matrix.distro }}
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        distro: [focal, jammy]
+    env:
+      REGISTRY: ghcr.io
+      IMAGE_NAME: ${{ github.repository }}
+      PUSH_DOCKER_IMAGE: ${{ github.ref == 'refs/heads/master' || github.event_name == 'release' }}
+    permissions:
+      contents: read
+      packages: write
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Log in to the Container registry
+        uses: docker/login-action@v3
+        with:
+          registry: ${{ env.REGISTRY }}
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Extract Docker meta-information
+        id: meta
+        uses: docker/metadata-action@v5
+        with:
+          images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}
+          flavor: |
+            latest=false
+            prefix=
+            suffix=
+          tags: |
+            type=ref,event=branch,prefix=${{ matrix.distro }}-
+            type=raw,event=pr,prefix=${{ matrix.distro }}-,value=master
+            type=semver,pattern={{major}}.{{minor}},prefix=${{ matrix.distro }}-
+
+      - name: Build and push Docker image
+        uses: docker/build-push-action@v5
+        with:
+          context: .
+          file: docker/Dockerfile
+          build-args: TAG=${{ steps.meta.outputs.version }}
+          push: ${{ env.PUSH_DOCKER_IMAGE }}
+          tags: ${{ steps.meta.outputs.tags }}
+          labels: ${{ steps.meta.outputs.labels }}
diff --git a/docker/Dockerfile b/docker/Dockerfile
new file mode 100644
index 00000000..0b947659
--- /dev/null
+++ b/docker/Dockerfile
@@ -0,0 +1,25 @@
+ARG TAG
+FROM ghcr.io/tesseract-robotics/tesseract:${TAG}
+
+SHELL ["/bin/bash", "-c"]
+
+ENV DEBIAN_FRONTEND noninteractive
+
+USER root
+
+# Bind mount the source directory so as not to unnecessarily copy source code into the docker image
+ARG WORKSPACE_DIR=/opt/tesseract_planning
+RUN --mount=type=bind,target=${WORKSPACE_DIR}/src/trajopt \
+  cd ${WORKSPACE_DIR} \
+  && vcs import src < src/trajopt/dependencies.repos --shallow \
+  && rosdep install \
+    --from-paths ${WORKSPACE_DIR}/src \
+    -iry
+
+# Build the repository
+# Bind mount the source directory so as not to unnecessarily copy source code into the docker image
+RUN --mount=type=bind,target=${WORKSPACE_DIR}/src/trajopt \
+  source /opt/tesseract/install/setup.bash \
+  && cd ${WORKSPACE_DIR} \ 
+  && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release \
+  && rm -rf build log
diff --git a/docker/README.md b/docker/README.md
new file mode 100644
index 00000000..105989ba
--- /dev/null
+++ b/docker/README.md
@@ -0,0 +1,28 @@
+# TrajOpt Docker
+
+## Create the Docker image
+### Download
+Download a pre-built Docker image for this bridge from the container registry:
+
+```
+docker login ghcr.io
+docker pull ghcr.io/tesseract-robotics/trajopt_deploy:<tag>
+```
+
+### Build
+Build the Docker image using `docker-compose`:
+
+```commandLine
+cd docker
+docker compose build
+```
+
+## Run the docker image
+Run the Docker image using `docker-compose`:
+
+```commandLine
+cd docker
+CURRENT_UID=$(id -u):$(id -g) docker compose up
+```
+
+> Note: by default the docker image runs as a non-root user, so the environment variable `CURRENT_UID` must be supplied as shown above
diff --git a/docker/docker-compose.yml b/docker/docker-compose.yml
new file mode 100644
index 00000000..440a5a7d
--- /dev/null
+++ b/docker/docker-compose.yml
@@ -0,0 +1,14 @@
+version: '3'
+services:
+  tesseract:
+    build:
+      context: ..
+      dockerfile: docker/Dockerfile
+      args:
+        - TAG=focal-0.20
+    container_name: tesseract_planning
+    image: ghcr.io/tesseract-robotics/trajopt_deploy:focal-0.20
+    stdin_open: true
+    tty: true
+    network_mode: host
+    user: ${CURRENT_UID}  # CURRENT_UID=$(id -u):$(id -g)