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🐋 update dockerfiles
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‎.github/workflows/container.yml

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name: Docker Images
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on:
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release:
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types: [released]
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push:
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branches:
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- main
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uses: docker/build-push-action@v4
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with:
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context: .
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file: docker/dockerfile-kasm-ubuntu-jammy-desktop-minimal
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file: docker/dockerfile-suave
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push: true
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tags: ${{ steps.meta.outputs.tags }}
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labels: ${{ steps.meta.outputs.labels }}

‎README.md

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## Run SUAVE
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### Runner [Docker only]
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### Runner
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#### Trying it out!
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If you simply want to try out the exemplar, simply enter the following commands in a terminal:
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```Bash

‎build_docker_images.sh

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#!/bin/bash
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CURDIR=`pwd`
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docker build -t kasm-jammy:dev -f docker/dockerfile-kasm-core-jammy .
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docker build -t suave:dev --build-arg BASE_IMAGE=kasm-jammy:dev -f docker/dockerfile-kasm-ubuntu-jammy-desktop-minimal .
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docker build -t suave:dev --build-arg BASE_IMAGE=kasm-jammy:dev -f docker/dockerfile-suave .
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cd $CURDIR

‎docker/dockerfile-kasm-core-jammy

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RUN bash $INST_SCRIPTS/virtualgl/install_virtualgl.sh && rm -rf $INST_SCRIPTS/virtualgl/
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### Create user and home directory for base images that don't already define it
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RUN (groupadd -g 1000 kasm-user \
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&& useradd -M -u 1000 -g 1000 kasm-user \
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&& usermod -a -G kasm-user kasm-user) ; exit 0
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RUN groupadd -g 1000 kasm-user \
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&& adduser --disabled-password --gid 1000 --uid 1000 --gecos '' kasm-user \
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&& adduser kasm-user sudo
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ENV HOME /home/kasm-user
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WORKDIR $HOME
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RUN mkdir -p $HOME && chown -R 1000:0 $HOME
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### FIX PERMISSIONS ## Objective is to change the owner of non-home paths to root, remove write permissions, and set execute where required
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# these files are created on container first exec, by the default user, so we have to create them since default will not have write perm
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&& chown -R root:root /usr/local/bin \
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&& rm -Rf /home/kasm-default-profile/.launchpadlib
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USER 1000
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USER kasm-user
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ENTRYPOINT ["/dockerstartup/kasm_default_profile.sh", "/dockerstartup/vnc_startup.sh", "/dockerstartup/kasm_startup.sh"]
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CMD ["--wait"]

‎docker/dockerfile-kasm-ubuntu-jammy-desktop-minimal

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This file was deleted.

‎docker/dockerfile-suave

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ARG BASE_IMAGE="ghcr.io/kas-lab/kasm-jammy:latest"
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FROM $BASE_IMAGE
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USER root
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# Set the locale
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RUN sed -i '/en_US.UTF-8/s/^# //g' /etc/locale.gen && \
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locale-gen
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ENV LANG en_US.UTF-8
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ENV LANGUAGE en_US:en
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ENV LC_ALL en_US.UTF-8
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### Envrionment config
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ENV DEBIAN_FRONTEND noninteractive
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###Add Sudo
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RUN add-apt-repository ppa:kisak/kisak-mesa \
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&& apt update \
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&& apt install -y \
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sudo \
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tzdata\
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vim \
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wget \
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curl \
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lsb-release \
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gnupg \
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wmctrl \
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git \
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software-properties-common \
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mesa-utils \
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bash-completion \
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&& apt full-upgrade -y \
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&& rm -rf /var/lib/apt/list/
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### Install Visual Studio Code
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# COPY ./docker/src/ubuntu/install/vs_code $INST_SCRIPTS/vs_code/
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# RUN bash $INST_SCRIPTS/vs_code/install_vs_code.sh && rm -rf $INST_SCRIPTS/vs_code/
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### Install Gazebo
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RUN wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
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RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
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RUN apt update && apt install -y \
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gz-garden \
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&& rm -rf /var/lib/apt/lists/
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### Install ROS2
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RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
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RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
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RUN apt update && apt install -y \
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ros-humble-ros-base \
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python3-colcon-common-extensions \
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python3-rosdep \
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python3-vcstool \
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&& rm -rf /var/lib/apt/lists/
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###Add the USER env var
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RUN echo 'kasm-user ALL=(ALL) NOPASSWD: ALL' >> /etc/sudoers
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ENV HOME /home/kasm-user
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USER kasm-user
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ENV DEBIAN_FRONTEND noninteractive
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WORKDIR $HOME
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# Install ArduSub
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RUN git clone https://github.com/ArduPilot/ardupilot.git
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WORKDIR $HOME/ardupilot
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RUN git checkout 94ba4ece5f9ccdf632b95938f8e644a622f5ee75
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RUN git submodule update --init --recursive
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RUN rm $HOME/ardupilot/Tools/environment_install/install-prereqs-ubuntu.sh
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RUN wget -P $HOME/ardupilot/Tools/environment_install/ https://raw.githubusercontent.com/ArduPilot/ardupilot/c623ae8b82db4d7e195f4b757e2ae5d049f941e5/Tools/environment_install/install-prereqs-ubuntu.sh
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RUN chmod +x $HOME/ardupilot/Tools/environment_install/install-prereqs-ubuntu.sh
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RUN USER=kasm-user Tools/environment_install/install-prereqs-ubuntu.sh -y
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RUN sudo pip3 install -U mavproxy PyYAML
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ENV PATH=/opt/gcc-arm-none-eabi-10-2020-q4-major/bin:$PATH
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ENV PATH=$PATH:$HOME/ardupilot/Tools/autotest
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ENV PATH=/usr/lib/ccache:$PATH
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RUN ["/bin/bash","-c","./waf configure && make sub"]
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# install ardupilot gazebo plugin
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RUN sudo apt update && sudo apt install -y \
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rapidjson-dev \
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libgz-sim7-dev \
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&& sudo rm -rf /var/lib/apt/list/
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WORKDIR $HOME
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RUN git clone https://github.com/ArduPilot/ardupilot_gazebo
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WORKDIR $HOME/ardupilot_gazebo
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RUN [ "/bin/bash","-c","mkdir build && cd build \
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&& cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo\
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&& make"]
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ENV GZ_SIM_SYSTEM_PLUGIN_PATH=$HOME/ardupilot_gazebo/build:${GZ_SIM_SYSTEM_PLUGIN_PATH}
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ENV GZ_SIM_RESOURCE_PATH=$HOME/ardupilot_gazebo/models:$HOME/ardupilot_gazebo/worlds:${GZ_SIM_RESOURCE_PATH}
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# Copy suave files
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ENV GZ_VERSION="garden"
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RUN mkdir -p $HOME/suave_ws/src
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COPY --chown=kasm-user:kasm-user suave.rosinstall $HOME/suave_ws/suave.rosinstall
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WORKDIR $HOME/suave_ws/
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RUN vcs import src < suave.rosinstall --recursive
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RUN rm -rf $HOME/suave_ws/src/suave/
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COPY --chown=kasm-user:kasm-user suave/ $HOME/suave_ws/src/suave/suave/
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COPY --chown=kasm-user:kasm-user suave_missions/ $HOME/suave_ws/src/suave/suave_missions/
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COPY --chown=kasm-user:kasm-user suave_metacontrol/ $HOME/suave_ws/src/suave/suave_metacontrol/
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COPY --chown=kasm-user:kasm-user suave_msgs/ $HOME/suave_ws/src/suave/suave_msgs/
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# Install suave deps
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WORKDIR $HOME/suave_ws
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RUN ["/bin/bash", "-c", "source /opt/ros/humble/setup.bash \
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&& sudo rosdep init \
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&& rosdep update \
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&& rosdep install --from-paths src --ignore-src -r -y"]
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RUN ["/bin/bash", "-c", "sudo ./src/mavros/mavros/scripts/install_geographiclib_datasets.sh"]
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# Build suave
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RUN ["/bin/bash", "-c", "source /opt/ros/humble/setup.bash \
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&& colcon build --symlink-install \
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&& echo 'source ~/suave_ws/install/setup.bash' >> ~/.bashrc"]
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RUN sudo apt autoremove -y && sudo rm -rf /var/lib/apt/lists/
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COPY --chown=kasm-user:kasm-user runner/ $HOME/suave_ws/src/suave/runner/
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WORKDIR $HOME/suave_ws/src/suave/runner/
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CMD ["--tail-log"]

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