Add a Dockerfile to build the whole demo (#117)

* Add a Dockerfile to build the whole demo including Navigation

Signed-off-by: Jose Luis Rivero <[email protected]>
Co-authored-by: Yadu <[email protected]>
Co-authored-by: Mabel Zhang <[email protected]>
Co-authored-by: Piotr Jaroszek <[email protected]>

docker/Dockerfile

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+FROM ros:humble-ros-core-jammy
+
+ENV WORKDIR=/data/workspace
+WORKDIR $WORKDIR
+
+ARG DEBIAN_FRONTEND=noninteractive
+
+# Setup time zone and locale data (necessary for SSL and HTTPS packages)
+RUN apt-get update && DEBIAN_FRONTEND="noninteractive" apt-get -y \
+    install \
+    tzdata \
+    locales \
+    keyboard-configuration \
+    && rm -rf /var/lib/apt/lists/*
+
+RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen \
+    && dpkg-reconfigure --frontend=noninteractive locales \
+    && update-locale LANG=en_US.UTF-8
+
+ENV LANG=en_US.UTF-8
+
+# Install common tools
+# deps in https://github.com/o3de/o3de/blob/development/scripts/build/build_node/Platform/Linux/package-list.ubuntu-jammy.txt
+RUN apt-get update && apt-get install -y \
+    bc \
+    bind9-utils \
+    binutils \
+    ca-certificates \
+    clang \
+    cmake \
+    file \
+    firewalld \
+    git \
+    git-lfs \
+    jq \
+    kbd \
+    kmod \
+    less \
+    lsb-release \
+    libglu1-mesa-dev \
+    libxcb-xinerama0 \
+    libfontconfig1-dev \
+    libcurl4-openssl-dev \
+    libnvidia-gl-470 \
+    libssl-dev \
+    libxcb-xkb-dev \
+    libxkbcommon-x11-dev \
+    libxkbcommon-dev \
+    libxcb-xfixes0-dev \
+    libxcb-xinput-dev \
+    libxcb-xinput0 \
+    libpcre2-16-0 \
+    lsof \
+    net-tools \
+    ninja-build \
+    pciutils \
+    python3-pip \
+    software-properties-common \
+    sudo \
+    tar \
+    unzip \
+    vim \
+    wget \
+    xz-utils \
+    && rm -rf /var/lib/apt/lists/*
+
+# Gem + ROSConDemo ROS pacakges
+RUN apt-get update && apt-get install -y \
+    ros-humble-ackermann-msgs \
+    ros-humble-control-toolbox \
+    ros-humble-gazebo-msgs \
+    ros-humble-navigation2 \
+    ros-humble-rviz2 \
+    ros-humble-tf2-ros \
+    ros-humble-urdfdom \
+    ros-humble-vision-msgs \
+    && rm -rf /var/lib/apt/lists/*
+
+## Symlink clang version to non-versioned clang and set cc to clang
+RUN update-alternatives --install /usr/bin/cc cc /usr/bin/clang 100 \
+    && update-alternatives --install /usr/bin/c++ c++ /usr/bin/clang++ 100
+
+# Assumes a local checkout of private ROSConDemo
+RUN git clone https://github.com/o3de/ROSConDemo.git \
+    && cd ROSConDemo \
+    && git lfs install \
+    && git lfs pull
+
+# Install o3de
+RUN git clone https://github.com/o3de/o3de.git -b development \
+    && cd o3de \
+    && git lfs install \
+    && git lfs pull \
+    && python/get_python.sh
+
+RUN git clone https://github.com/RobotecAI/o3de-ros2-gem.git
+
+RUN ./o3de/scripts/o3de.sh register --this-engine \
+    && ./o3de/scripts/o3de.sh register --gem-path ./o3de-ros2-gem \
+    && ./o3de/scripts/o3de.sh register -pp ./ROSConDemo/Project \
+    && ./o3de/scripts/o3de.sh enable-gem -gn ROS2 -pp ./ROSConDemo/Project \
+    && cat /root/.o3de/o3de_manifest.json
+
+WORKDIR $WORKDIR/ROSConDemo/Project
+
+RUN git lfs pull \
+    && . /opt/ros/humble/setup.sh \
+    && cmake -B build/linux -S . -G "Ninja Multi-Config" -DLY_STRIP_DEBUG_SYMBOLS=ON
+
+RUN . /opt/ros/humble/setup.sh \
+    && cmake --build build/linux --config profile --target ROSConDemo Editor AssetProcessor
+
+# This final step takes long since they Assets will be downloading
+RUN . /opt/ros/humble/setup.sh \
+    && echo "This final step can take more than 1 hour. Good time for going for a coffee :)" \
+    && cmake --build build/linux --config profile --target ROSConDemo.Assets
+
+# Installing o3de_kraken_nav
+RUN apt-get update && apt-get install -y \
+    python3-colcon-common-extensions \
+    ros-humble-cyclonedds \
+    ros-humble-rmw-cyclonedds-cpp \
+    ros-humble-slam-toolbox \
+    ros-humble-navigation2 \
+    ros-humble-nav2-bringup \
+    ros-humble-pointcloud-to-laserscan \
+    ros-humble-teleop-twist-keyboard \
+    ros-humble-ackermann-msgs \
+    ros-humble-topic-tools \
+    && rm -rf /var/lib/apt/lists/*
+
+RUN pip install python-statemachine
+
+WORKDIR $WORKDIR
+
+RUN mkdir -p o3de_kraken_ws/src \
+    && cd o3de_kraken_ws/src \
+    && git clone https://github.com/RobotecAI/o3de_kraken_nav.git
+
+RUN cd o3de_kraken_ws \
+    && colcon build --symlink-install
+
+ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

docker/README.md

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+# Dockerfile for running the ROSConDemo
+
+The Dockerfile is going to create an Ubuntu Jammy + ROS Humble platform
+that prepares the O3DE simulator together with the o3de-ros2-gem to run
+the demo in this repository.
+
+## Requisites
+
+ * [Hardware requirements of o3de](https://www.o3de.org/docs/welcome-guide/requirements/)
+ * At least 40GB of free disk space
+ * The build process can take more than 2 hours
+
+## Building the Docker Image
+
+To build the Dockerfile the only required step is to clone first the ROSConDemo:
+```
+git clone [email protected]:aws-lumberyard/ROSConDemo.git
+docker build -t roscon_demo -f ROSConDemo/docker/Dockerfile .
+```
+
+Note: the build process is going to download all the necessary assets for running
+the demo so it can take several hours depending on the Internet connection.
+
+## Running the Docker Image
+
+GPU acceleration is required for running O3DE correctly. For running docker
+with support for GPU please follow the documentation for
+[docker run](https://docs.docker.com/engine/reference/commandline/run/).
+
+Another option is to install and use [rocker](https://github.com/osrf/rocker).
+
+```
+rocker --x11 --nvidia roscon_demo
+```
+
+The `Dockerfile` leaves ready the compilation of all the O3DE artifacts to be able
+to execute the Editor.
+```
+/data/workspace/ROSConDemo/Project/build/linux/bin/profile/Editor
+```
+
+Continue with the instruction in the
+[main README file](https://github.com/aws-lumberyard/ROSConDemo/blob/main/README.md).