Tracking PR for changes in aoc branch

.devcontainer/Dockerfile

@@ -1,26 +1,75 @@
-FROM lcas.lincoln.ac.uk/lcas/ros:humble
+ARG BASE_IMAGE=ros:jazzy
+ARG ROS_DISTRO=jazzy
 
-RUN apt-get update && export DEBIAN_FRONTEND=noninteractive \
-    && apt-get -y upgrade \
-    && apt-get -y install --no-install-recommends ros-humble-desktop ros-humble-simulation bash-completion python3-colcon-common-extensions \
-        nano syslog-ng \
-        build-essential \
-        curl \
-        swig \
-        python3-pip \
-        ros-humble-rviz2 \
-        python3-rosinstall-generator \
-        wget
+FROM ${BASE_IMAGE} AS base
 
-RUN useradd -rm -d /home/lcas -s /bin/bash -g root -G sudo -u 1001 lcas
-RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
+RUN rm -rf /var/lib/apt/lists/* \
+    && apt-get update --fix-missing \
+    && apt-get -y install --no-install-recommends --fix-missing \
+    ros-${ROS_DISTRO}-rviz2 \
+    bash-completion \
+    python3-colcon-common-extensions \
+    python3-pip \
+    python3-rosdep \
+    ros-${ROS_DISTRO}-rqt-graph \
+    && rm -rf /var/lib/apt/lists/*
 
-RUN echo "source /opt/ros/humble/setup.bash" >> /home/lcas/.bashrc
+############################################################################################################
+# Intermediate stage: extract only package.xml files so that the rosdep cache
+# is only invalidated when package.xml files actually change, not on every
+# source-tree modification. The bind-mount hash covers the whole tree, but the
+# COPY --from below is content-addressed on /tmp/pkg-only alone.
+FROM base AS pkg_xmls_only
+RUN --mount=type=bind,target=/tmp/source-tree-ro,readonly \
+    find /tmp/source-tree-ro -name "package.xml" | while IFS= read -r f; do \
+        rel="${f#/tmp/source-tree-ro/}"; \
+        mkdir -p "/tmp/pkg-only/$(dirname "$rel")"; \
+        cp "$f" "/tmp/pkg-only/$rel"; \
+    done
 
-RUN pip3 install bloom
 
-COPY *repos *.sh /tmp/.devcontainer/
-RUN bash /tmp/.devcontainer/install.sh
 
-RUN mkdir -p /home/lcas/ws/src && ln -s /workspaces /home/lcas/ws/src/workspaces
-WORKDIR /home/lcas/ws
+
+############################################################################################################
+FROM base AS deps_installed
+LABEL org.opencontainers.image.target="deps_installed"
+
+COPY --from=pkg_xmls_only /tmp/pkg-only /tmp/pkg-only
+
+RUN echo "Installing dependencies" && \
+    cd /tmp/pkg-only && \
+    echo "Running rosdep update..."  && \
+    rosdep update --rosdistro ${ROS_DISTRO}  && \
+    echo "Running apt-get update..."  && \
+    apt-get update  && \
+    echo "Running rosdep install..."  && \
+    rosdep install --from-paths . --ignore-src --rosdistro ${ROS_DISTRO} -y  || echo "rosdep install failed, continuing with flag to keep going"  && \
+    rosdep install --from-paths . --ignore-src --rosdistro ${ROS_DISTRO} -y -r
+
+FROM deps_installed AS devcontainer
+# do an initial build to speed up development
+RUN --mount=type=bind,target=/workspace/src \
+    . /opt/ros/${ROS_DISTRO}/setup.sh && \
+    cd /workspace && \
+    colcon build --continue-on-error
+
+RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /etc/bash.bashrc
+RUN echo "if [ -f /workspace/install/setup.bash ]; then source /workspace/install/setup.bash; fi" >> /etc/bash.bashrc
+RUN echo "alias build='(cd /workspace && colcon build)'" >> /etc/bash.bashrc
+
+
+FROM devcontainer AS build
+COPY ./ /workspace/src
+WORKDIR /workspace
+ENV ROS2_WS=/workspace
+
+# Do an initial build to speed up development
+RUN /bin/bash -lc "source /opt/ros/${ROS_DISTRO}/setup.bash && colcon build --continue-on-error"
+
+# ----------------------------------------------------------------------------------------------------
+FROM build AS final
+
+RUN /bin/bash -lc "source /opt/ros/${ROS_DISTRO}/setup.bash && colcon build"
+
+ENV MAP_FILE=/workspace/src/topological_navigation/config/test_simple_tmap2.yaml 
+CMD ["/bin/bash", "-lc", "source /workspace/install/setup.bash && exec ros2 launch topological_navigation topological_navigation.launch.py map_path:=$MAP_FILE"]

.devcontainer/compose.yaml

@@ -0,0 +1,36 @@
+services:
+  vnc:
+    image: lcas.lincoln.ac.uk/vnc
+    volumes:
+      - x11:/tmp/.X11-unix
+    # devices:
+    #   - /dev/dri:/dev/dri
+    networks:
+      - ros_net
+    shm_size: '2gb'
+    stdin_open: true
+    tty: true
+
+  topo-nav:
+    build:
+      context: ../
+      dockerfile: .devcontainer/Dockerfile
+      target: devcontainer
+    volumes:
+      - x11:/tmp/.X11-unix
+      - ../:/workspace/src:cached
+    stdin_open: true
+    tty: true
+    networks:
+      - ros_net
+    depends_on: 
+      - vnc
+    environment:
+      - DISPLAY=:1.0
+      - ROS_DOMAIN_ID=10
+
+volumes:
+  x11:
+
+networks:
+  ros_net:

.devcontainer/devcontainer.json

@@ -1,61 +1,29 @@
-// For format details, see https://aka.ms/devcontainer.json. For config options, see the
-// README at: https://github.com/devcontainers/templates/tree/main/src/ubuntu
 {
 	"name": "topological_navigation",
-	// Or use a Dockerfile or Docker Compose file. More info: https://containers.dev/guide/dockerfile
-	// "image": "lcas.lincoln.ac.uk/lcas/ros:humble",
-	"build": {
-		"dockerfile": "Dockerfile",
-		"context": "."
-	},
-
-	// Features to add to the dev container. More info: https://containers.dev/features.
-	"features": {
-		"ghcr.io/devcontainers/features/desktop-lite:1": {}
-	},
-
-	// Use 'forwardPorts' to make a list of ports inside the container available locally.
-	// "forwardPorts": [],
-	"forwardPorts": [6080, 5901],
+	"dockerComposeFile": "compose.yaml",
+	"service": "topo-nav",
+	"workspaceFolder": "/workspace/src",
+	"updateRemoteUserUID": true,
+
+	"forwardPorts": ["vnc:5801"],
 	"portsAttributes": {
-	  "6080": {
-		"label": "novnc"
-	  },
-	  "5901": {
-		"label": "vnc"
-	  }
-	},
-	// Use 'postCreateCommand' to run commands after the container is created.
-	"postCreateCommand": "bash .devcontainer/run.sh",
-	"containerUser": "lcas",
-	// Configure tool-specific properties.
-	// "customizations": {},
-	"runArgs": [ "--security-opt", "seccomp=unconfined", "--cap-add=NET_ADMIN" ],
+		"vnc:5801": { "label": "novnc" }
+	},	
 
-	"containerEnv": {
-        "ROS_LOCALHOST_ONLY": "0",
-        "LIBGL_ALWAYS_SOFTWARE": "1" // Needed for software rendering of opengl
-    },
-
-	// Uncomment to connect as root instead. More info: https://aka.ms/dev-containers-non-root.
-    "customizations": {
+	"customizations": {
 		"vscode": {
 			"extensions": [
-				"dotjoshjohnson.xml",
-				"zachflower.uncrustify",
 				"ms-python.python",
+				"AlessandroSofia.ros2-topic-viewer",
 				"ms-vscode.cpptools",
 				"redhat.vscode-yaml",
-				"smilerobotics.urdf",
-				"streetsidesoftware.code-spell-checker",
 				"twxs.cmake",
-				"king2021.vnc-extension",
 				"nonanonno.vscode-ros2",
 				"deitry.colcon-helper",
 				"yzhang.markdown-all-in-one",
-				"github.vscode-github-actions"
+				"github.vscode-github-actions",
+				"ArshadKhan.topological-map-visual"
 			]
 		}
 	}
-
-}
+}