Completed Dockerization

.gitignore

@@ -1 +1,54 @@
 .vscode/*
+build_files/*
+
+devel/
+logs/
+build/
+bin/
+lib/
+msg_gen/
+srv_gen/
+msg/*Action.msg
+msg/*ActionFeedback.msg
+msg/*ActionGoal.msg
+msg/*ActionResult.msg
+msg/*Feedback.msg
+msg/*Goal.msg
+msg/*Result.msg
+msg/_*.py
+build_isolated/
+devel_isolated/
+
+# Generated by dynamic reconfigure
+*.cfgc
+/cfg/cpp/
+/cfg/*.py
+
+# Ignore generated docs
+*.dox
+*.wikidoc
+
+# eclipse stuff
+.project
+.cproject
+
+# qcreator stuff
+CMakeLists.txt.user
+
+srv/_*.py
+*.pcd
+*.pyc
+qtcreator-*
+*.user
+
+/planning/cfg
+/planning/docs
+/planning/src
+
+*~
+
+# Emacs
+.#*
+
+# Catkin custom files
+CATKIN_IGNORE

Dockerfile

@@ -0,0 +1,41 @@
+FROM osrf/ros:noetic-desktop-full
+
+SHELL ["/bin/bash","-c"]
+
+RUN echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
+RUN echo "source /workspaces/mr_robo_ws/devel/setup.bash" >> ~/.bashrc
+RUN echo "source /usr/share/gazebo-11/setup.sh" >> ~/.bashrc
+RUN echo "export LIBGL_ALWAYS_SOFTWARE=1" >> ~/.bashrc
+
+
+RUN apt-get update
+
+RUN apt-get install --no-install-recommends -yqqq \
+    python3-pip 
+
+RUN pip3 install ultralytics 
+RUN apt-get install --no-install-recommends -yqqq \
+    tmux \
+    libfreenect-dev
+
+
+RUN apt-get install --no-install-recommends -yqqq \
+    ros-noetic-turtlebot3-gazebo\
+    ros-noetic-turtlebot3-description\
+    ros-noetic-turtlebot3-navigation\
+    ros-noetic-ros-control \
+    ros-noetic-gazebo-ros-pkgs \
+    libopencv-dev \ 
+    python3-opencv \
+    ros-noetic-map-server \
+    ros-noetic-move-base \
+    ros-noetic-amcl \
+    libgazebo11-dev \
+    ros-noetic-rgbd-launch  
+
+RUN mkdir -p /workspaces/mr_robo_ws/src
+
+RUN rm -rf /var/lib/apt/lists/* \
+&& apt-get clean
+
+CMD ["sleep", "infinity"]

build_image.sh

@@ -0,0 +1,89 @@
+#!/bin/bash
+
+# Map host's display socket to docker
+DOCKER_ARGS+=("-v /tmp/.X11-unix:/tmp/.X11-unix")
+DOCKER_ARGS+=("-v $HOME/.Xauthority:/home/admin/.Xauthority:rw")
+# DOCKER_ARGS+=("-e DISPLAY")
+DOCKER_ARGS+=("-e NVIDIA_VISIBLE_DEVICES=all")
+DOCKER_ARGS+=("-e NVIDIA_DRIVER_CAPABILITIES=all")
+# DOCKER_ARGS+=("-e FASTRTPS_DEFAULT_PROFILES_FILE=/usr/local/share/middleware_profiles/rtps_udp_profile.xml")
+
+xhost +local:root
+
+image_name="mr_robot_docker"
+container_name="mr_robot_docker_build"
+
+# Initialize variables
+force_option=false 
+clean_option=false
+
+
+# Parse options
+while [[ $# -gt 0 ]]; do
+  case "$1" in
+    --force)
+      force_option=true
+      shift
+      ;;
+
+    --clean)
+      clean_option=true
+      shift
+      ;;
+
+    *)
+      echo "Invalid option: $1"
+      exit 1
+      ;;
+  esac
+done
+
+
+if $force_option; then
+  echo "Buidling Existing Docker Image: $image_name"
+  docker build -f Dockerfile -t "$image_name":1.0 .
+  ./build_image.sh
+
+else
+  run_command='source /opt/ros/noetic/setup.bash && catkin_make && source devel/setup.bash && exit'
+
+  if $clean_option; then
+    run_command='source /opt/ros/noetic/setup.bash && rm -rf build devel && catkin_make && source devel/setup.bash && exit'
+    echo "Force Command Enabled"
+
+  else
+    echo "Force Command Disabled"
+  fi
+
+
+  if docker images --format '{{.Repository}}' | grep -q "$image_name"; then
+
+      echo "Found Docker Image: $image_name:1.0"
+
+      echo "Updating the existing Docker image: $image_name:1.0"
+
+      docker run -it --rm=false \
+          --privileged \
+          ${DOCKER_ARGS[@]} \
+          -e DISPLAY=$DISPLAY \
+          -v $PWD/build_files:/workspaces/mr_robo_ws/ \
+          -v $PWD:/workspaces/mr_robo_ws/src \
+          -v /etc/localtime:/etc/localtime:ro \
+          --name "$container_name" \
+          --runtime nvidia \
+          --workdir /workspaces/mr_robo_ws \
+          $@ \
+          "$image_name":1.0 \
+          bash -c "$run_command"
+
+      docker rm "$container_name"
+
+    #   ./run_image.sh
+
+  else
+      echo "Building a new Docker image: $image_name"
+      docker build -f Dockerfile -t "$image_name":1.0 .
+      ./build_image.sh 
+  fi
+
+fi

mr_robot_description/package.xml

@@ -7,7 +7,7 @@
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
   <!-- <maintainer email="[email protected]">Jane Doe</maintainer> -->
-  <maintainer email="syuntoku14@todo.todo">syuntoku14</maintainer>
+  <maintainer email="singh@todo.todo">singh</maintainer>
 
 
   <!-- One license tag required, multiple allowed, one license per tag -->

run_image.sh

@@ -0,0 +1,38 @@
+#!/bin/bash
+
+# Map host's display socket to Docker
+DOCKER_ARGS+=("-v $HOME/.Xauthority:/home/admin/.Xauthority:rw")
+DOCKER_ARGS+=("-e DISPLAY")
+DOCKER_ARGS+=("-e LIBGL_ALWAYS_SOFTWARE=1") # Enable software rendering by default
+
+xhost +local:root
+image_name="mr_robot_docker"
+container_name="mr_robot_docker_build"
+
+# Check if NVIDIA GPU is available
+if command -v nvidia-smi &>/dev/null && nvidia-smi -L &>/dev/null; then
+    echo "NVIDIA GPU detected. Configuring for NVIDIA runtime..."
+    DOCKER_ARGS+=("--runtime=nvidia")
+    DOCKER_ARGS+=("-e NVIDIA_VISIBLE_DEVICES=all")
+    DOCKER_ARGS+=("-e NVIDIA_DRIVER_CAPABILITIES=all")
+else
+    echo "No NVIDIA GPU detected. Configuring for software rendering..."
+    DOCKER_ARGS+=("-e LIBGL_ALWAYS_SOFTWARE=1") # Ensure software rendering
+fi
+
+# Check if container is already running
+if docker ps --format '{{.Names}}' | grep -q "$container_name"; then
+    docker exec -it $container_name /bin/bash
+else
+    docker run -it --rm \
+        ${DOCKER_ARGS[@]} \
+        -e DISPLAY=$DISPLAY \
+        -v /tmp/.X11-unix:/tmp/.X11-unix \
+        -v $PWD/build_files:/workspaces/mr_robo_ws/ \
+        -v $PWD:/workspaces/mr_robo_ws/src \
+        -v /etc/localtime:/etc/localtime:ro \
+        --name "$container_name" \
+        --workdir /workspaces/mr_robo_ws \
+        "$image_name":1.0 \
+        /bin/bash
+fi