Updated files

scripts/Dockerfile.humble

@@ -4,45 +4,45 @@ WORKDIR /
 
 # RoboticsInfrasctructure Repository
 ARG ROBOTICS_INFRASTRUCTURE=$ROBOTICS_INFRASTRUCTURE
-RUN mkdir -p /opt/jderobot && \
-    git clone --depth 1 https://github.com/JdeRobot/RoboticsInfrastructure.git -b $ROBOTICS_INFRASTRUCTURE /opt/jderobot
-
-# create workspace and add Robot packages
-RUN mkdir -p /home/ws/src
-RUN mv /opt/jderobot/CustomRobots /opt/jderobot/jderobot_drones /home/ws/src/
-RUN mv /opt/jderobot/resources /resources
+# Launchers/, Worlds/, Universes/ are intentionally retained in /opt/jderobot (hardcoded in all launch files).
+# Only .git history is stripped to recover extra space.
+RUN mkdir -p /opt/jderobot /home/ws/src && \
+    git clone --depth 1 https://github.com/JdeRobot/RoboticsInfrastructure.git -b $ROBOTICS_INFRASTRUCTURE /opt/jderobot && \
+    mv /opt/jderobot/CustomRobots /opt/jderobot/jderobot_drones /opt/jderobot/jderobot_drones_cpp /opt/jderobot/Industrial /opt/jderobot/common_interfaces_cpp /home/ws/src/ && \
+    mv /opt/jderobot/resources /resources && \
+    mv -t / /opt/jderobot/scripts/.env /opt/jderobot/scripts/entrypoint.sh /opt/jderobot/scripts/ram_entrypoint.py /opt/jderobot/scripts/test/check_device.py /opt/jderobot/scripts/set_dri_name.sh /opt/jderobot/scripts/check_ram_version.sh && \
+    mv -f /opt/jderobot/scripts/rc.xml /etc/xdg/openbox/LXDE/rc.xml && \
+    chmod +x /entrypoint.sh /set_dri_name.sh && \
+    rm -rf /opt/jderobot/.git \
+    /opt/jderobot/.github \
+    /opt/jderobot/database \
+    /opt/jderobot/deprecated_assets \
+    /opt/jderobot/Docs \
+    /opt/jderobot/scripts \
+    /opt/jderobot/test \
+    /opt/jderobot/Universes \
+    /opt/jderobot/utils \
+    && rm -f /opt/jderobot/Scenes/*.glb
 
 ARG IMAGE_TAG
 ENV IMAGE_TAG=${IMAGE_TAG}
 
 # Clone the RoboticsApplicationManager repository into the src folder inside RoboticsAcademy
-ARG RAM=$RAM
-RUN git clone https://github.com/JdeRobot/RoboticsApplicationManager.git -b $RAM /RoboticsApplicationManager
-
-# copy scripts
-RUN mv -t / /opt/jderobot/scripts/.env  /opt/jderobot/scripts/entrypoint.sh /opt/jderobot/scripts/start_vnc.sh  /opt/jderobot/scripts/start_vnc_gpu.sh /opt/jderobot/scripts/kill_all.sh /opt/jderobot/scripts/test/check_device.py /opt/jderobot/scripts/set_dri_name.sh
-
-# give execution permissions
-WORKDIR /
-RUN chmod +x /start_vnc.sh /kill_all.sh /entrypoint.sh /start_vnc_gpu.sh /set_dri_name.sh
+RUN python3 -m pip install --no-cache-dir robotics_application_manager
 
 # Compiling and sourcing the workspace
 WORKDIR /home/ws
 RUN /bin/bash -c "source /home/drones_ws/install/setup.bash"
-RUN /bin/bash -c "source /home/industrial_ws/install/setup.bash"
-RUN /bin/bash -c "source /opt/ros/humble/setup.bash; colcon build --symlink-install"
+RUN /bin/bash -c "source /opt/ros/humble/setup.bash; colcon build --symlink-install --packages-ignore gz_ros2_control gz_ros2_control_demos"
 
 # Manager websocket
 EXPOSE 7163
 
-# noVNC Console
-EXPOSE 1108
-
-# noVNC Gazebo
-EXPOSE 6080
+# Tools ports
+EXPOSE 6080-6090
 
 WORKDIR /
 
 # Setting environment in both interactive or non-interactive shells
-ENV BASH_ENV /.env
+ENV BASH_ENV=/.env
 ENTRYPOINT ["./entrypoint.sh", "-ns"]

scripts/build.sh

@@ -1,37 +1,35 @@
 #!/bin/bash
 
 # Default branch if not specified
-ROBOTICS_ACADEMY="master"
-ROBOTICS_INFRASTRUCTURE="noetic-devel"
-RAM="main"
-ROS_DISTRO="noetic"
+ROBOTICS_ACADEMY="humble-devel"
+ROBOTICS_INFRASTRUCTURE="humble-devel"
+RAM="humble-devel"
+ROS_DISTRO="humble"
 IMAGE_TAG="test"
 FORCE_BUILD=false
+FORCE_BUILD_NO_CACHE=false
 
 Help()
 {
-   # Display Help
    echo "Syntax: build.sh [options]"
    echo "Options:"
-   echo "  -h                        Print this Help."
-   echo "  -f                        Force creation of the base image. If omitted, the base image is created only if "
-   echo "                            it doesn't exist."
-   echo "  -a, --academy    <value>  Branch of RoboticsAcademy.               Default: master"
-   echo "  -i, --infra      <value>  Branch of RoboticsInfrastructure.        Default: noetic-devel"
-   echo "  -m, --ram        <value>  Branch of RoboticsApplicationManager.    Default: main"
-   echo "  -r, --ros        <value>  ROS Distro (humble or noetic).           Default: noetic"
-   echo "  -t, --tag        <value>  Tag name of the image.                   Default: test"
+   echo "  -h                           Print this Help."
+   echo "  -f                           Force creation of the base image. If omitted, the base image is created only if it doesn't exist."
+   echo "  -F                           Force creation of the base image without using docker cache."
+   echo "  -a, --academy       <value>  Branch of RoboticsAcademy.               Default: humble-devel"
+   echo "  -i, --infra         <value>  Branch of RoboticsInfrastructure.        Default: humble-devel"
+   echo "  -m, --ram           <value>  Branch of RoboticsApplicationManager.    Default: humble-devel"
+   echo "  -r, --ros           <value>  ROS Distro (humble).                     Default: humble"
+   echo "  -t, --tag           <value>  Tag name of the image.                   Default: test"
    echo
    echo "Example:"
    echo "   ./build.sh -t my_image"
-   echo "   ./build.sh -f -a master -i noetic-devel -m main -r noetic -t my_image" 
-   echo "   ./build.sh -f --academy master --infra noetic-devel --ram main --ros noetic --tag my_image" 
    echo
 }
 
 while [[ $# -gt 0 ]]; do
     case "$1" in
-        -a | --academy) 
+        -a | --academy)
             ROBOTICS_ACADEMY="$2"
             shift 2
             ;;
@@ -55,8 +53,12 @@ while [[ $# -gt 0 ]]; do
             FORCE_BUILD=true
             shift
             ;;
-        -h | --help) # display Help
-            echo "Generates RoboticsAcademy RADI image"
+        -F | --force-no-cache)
+            FORCE_BUILD_NO_CACHE=true
+            shift
+            ;;
+        -h | --help)
+            echo "Generates Robotics Backend image"
             echo
             Help
             exit 0
@@ -76,33 +78,43 @@ echo "ROS_DISTRO:-------------------:$ROS_DISTRO"
 echo "IMAGE_TAG:--------------------:$IMAGE_TAG"
 echo
 
-# Determine Dockerfile based on ROS_DISTRO
-if [[ $ROS_DISTRO == "noetic" ]]; then
-    DOCKERFILE_BASE="Dockerfile.dependencies_noetic"
-    DOCKERFILE="Dockerfile.noetic"
-elif [[ $ROS_DISTRO == "humble" ]]; then
+if [[ $ROS_DISTRO == "humble" ]]; then
     DOCKERFILE_BASE="Dockerfile.dependencies_humble"
     DOCKERFILE="Dockerfile.humble"
 else
-    echo "Error: Unknown ROS_DISTRO ($ROS_DISTRO). Please set it to 'noetic' or 'humble'."
+    echo "Error: Unknown ROS_DISTRO ($ROS_DISTRO). Please set it to 'humble'."
     exit 1
 fi
 
-# Build the Docker Base image
-if $FORCE_BUILD || [[ "$(docker images -q jderobot/robotics-applications:dependencies-$ROS_DISTRO 2> /dev/null)" == "" ]]; then
+if $FORCE_BUILD_NO_CACHE; then
+  NO_CACHE="--no-cache"
+else
+  NO_CACHE=""
+fi
+
+if $FORCE_BUILD_NO_CACHE || $FORCE_BUILD || [[ "$(docker images -q jderobot/robotics-applications:dependencies-$ROS_DISTRO 2> /dev/null)" == "" ]]; then
   echo "===================== BUILDING $ROS_DISTRO BASE IMAGE ====================="
   echo "Building base using $DOCKERFILE_BASE for ROS $ROS_DISTRO"
-  docker build -f $DOCKERFILE_BASE -t jderobot/robotics-applications:dependencies-$ROS_DISTRO .
+  docker build $NO_CACHE -f $DOCKERFILE_BASE \
+    --build-arg TARGETARCH=$(uname -m | sed 's/x86_64/amd64/;s/arm64/arm64/') \
+    -t jderobot/robotics-applications:dependencies-$ROS_DISTRO .
+fi
+
+if [ $? -eq 0 ]; then
+    echo "Docker Base Image Build Successful"
+else
+    echo "Docker Base Image Build FAILED...exiting"
+    exit
 fi
 
-# Build the Docker image
-echo "===================== BUILDING $ROS_DISTRO RADI ====================="
-echo "Building RADI using $DOCKERFILE for ROS $ROS_DISTRO"
+echo "===================== BUILDING $ROS_DISTRO Robotics Backend ====================="
+echo "Building Robotics Backend using $DOCKERFILE for ROS $ROS_DISTRO"
 
 docker build --no-cache -f $DOCKERFILE \
   --build-arg ROBOTICS_ACADEMY=$ROBOTICS_ACADEMY \
   --build-arg ROBOTICS_INFRASTRUCTURE=$ROBOTICS_INFRASTRUCTURE \
   --build-arg RAM=$RAM \
   --build-arg ROS_DISTRO=$ROS_DISTRO \
   --build-arg IMAGE_TAG=$IMAGE_TAG \
-  -t jderobot/robotics-academy:$IMAGE_TAG .
+  -t jderobot/robotics-backend:$IMAGE_TAG .
+

scripts/config-nvidia-libs.py

@@ -0,0 +1,12 @@
+"""
+Auxiliary script for setting the Nvidia libraries in the RADI
+
+Register all pip-installed nvidia .so files with ldconfig so onnxruntime-gpu
+finds them regardless of whether pip used site-packages or dist-packages
+"""
+
+import sysconfig, pathlib
+
+site = pathlib.Path(sysconfig.get_path("purelib"))
+conf = "\n".join(str(d) for d in site.glob("nvidia/*/lib") if d.is_dir())
+pathlib.Path("/etc/ld.so.conf.d/nvidia-pip.conf").write_text(conf + "\n")