Add Dockerfile for ARM (#572)

Signed-off-by: Manuel Schweiger <[email protected]>
Co-authored-by: mhidalgo-bdai <[email protected]>

Dockerfile

@@ -1,29 +1,62 @@
-FROM osrf/ros:humble-desktop-full
+# Use official Ubuntu 22.04 base image
+FROM ubuntu:22.04
 
-# Install dependencies (taken from devcontainer dockerfile)
-RUN DEBIAN_FRONTEND=noninteractive apt-get update -q && \
-    apt-get update -q && \
-    apt-get install -yq --no-install-recommends \
+#RMW ZENOH experimental flag
+ARG EXPERIMENTAL_ZENOH_RMW=FALSE
+
+# Set noninteractive mode for APT
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Env setup
+ENV SHELL=/bin/bash
+SHELL ["/bin/bash", "-c"]
+
+# Install system dependencies
+RUN apt-get update && apt-get install -y \
+    locales \
     curl \
-    wget \
+    git \
+    && locale-gen en_US.UTF-8 \
+    && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
+
+# Add ROS 2 apt repository
+RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \
+    && 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 \
+    && apt-get update
+
+# Install dependencies
+RUN apt-get update -q && \
+    apt-get install -yq --no-install-recommends \
+    wget \ 
+    software-properties-common \ 
     python3-pip \
     python-is-python3 \
     python3-argcomplete \
     python3-colcon-common-extensions \
     python3-colcon-mixin \
     python3-rosdep \
-    libpython3-dev && \
-    rm -rf /var/lib/apt/lists/*
+    libpython3-dev \
+    python3-tk \
+    ros-humble-ros-base \
+    ros-dev-tools \
+    #check if Zenoh should be installed
+    $(if [ "$EXPERIMENTAL_ZENOH_RMW" = "TRUE" ]; then echo "ros-humble-rmw-zenoh-cpp"; fi) \
+    && rm -rf /var/lib/apt/lists/*
 
-# Create ROS workspace
+# Set up workspace
 WORKDIR /ros_ws/src
 
+# Initialize rosdep
+RUN rosdep init && rosdep update
+
 # Clone driver code
 RUN git clone https://github.com/bdaiinstitute/spot_ros2.git .
 RUN git submodule update --init --recursive
 
-# Run install script
-RUN /ros_ws/src/install_spot_ros2.sh
+# Run install script and pass in the architecture
+RUN ARCH=$(dpkg --print-architecture) && echo "Building driver with $ARCH" && /ros_ws/src/install_spot_ros2.sh --$ARCH
 
 # Build packages with Colcon
 WORKDIR /ros_ws/

docker-compose.yaml

@@ -0,0 +1,14 @@
+services:
+  spot-ros2-driver:
+    image: spot_ros2:latest
+    volumes:
+      - ./spot_driver/config/spot_ros_example.yaml:/ros_ws/src/robot.yaml
+    environment:
+      - SPOT_NAME=${SPOT_NAME:-spot}
+      # Default value, can be set via CLI with >>SPOT_NAME=spot docker compose up<<
+    command: >
+      bash -c "
+        source /opt/ros/humble/setup.bash && 
+        source /ros_ws/install/setup.bash && 
+        ros2 launch spot_driver spot_driver.launch.py config_file:=/ros_ws/src/robot.yaml spot_name:=$${SPOT_NAME} launch_rviz:=False
+      "

install_spot_ros2.sh

@@ -7,7 +7,7 @@ REQUIREMENTS_FILE=spot_wrapper/requirements.txt
 
 while true; do
   case "$1" in
-    --arm64 ) ARCH="arm64"; shift ;;
+    --arm64 | --aarch64 ) ARCH="arm64"; shift ;;
     -h | --help ) echo "$HELP"; exit 0;;
     -- ) shift; break ;;
     * ) break ;;