From 39d0b032e072763e96028b4350f2e89b436b9f90 Mon Sep 17 00:00:00 2001 From: Marc Hanheide Date: Mon, 16 Feb 2026 11:30:57 +0000 Subject: [PATCH 01/54] Add Dockerfile and GitHub Actions workflow for building AOC Docker images --- base.dockerfile | 16 +++++ docker/.dockerignore | 0 github/workflows/docker-build-and-push.yaml | 79 +++++++++++++++++++++ 3 files changed, 95 insertions(+) create mode 100644 base.dockerfile create mode 100644 docker/.dockerignore create mode 100644 github/workflows/docker-build-and-push.yaml diff --git a/base.dockerfile b/base.dockerfile new file mode 100644 index 0000000..8191798 --- /dev/null +++ b/base.dockerfile @@ -0,0 +1,16 @@ +ARG BASE_IMAGE=ros:humble +FROM ${BASE_IMAGE} AS base + +ENV BASE_IMAGE=${BASE_IMAGE} + +ENV DEBIAN_FRONTEND=noninteractive + +RUN apt-get update && apt-get upgrade -y && apt-get install -y \ + build-essential \ + cmake \ + git \ + curl \ + wget \ + unzip + +RUN rosdep init && rosdep update \ No newline at end of file diff --git a/docker/.dockerignore b/docker/.dockerignore new file mode 100644 index 0000000..e69de29 diff --git a/github/workflows/docker-build-and-push.yaml b/github/workflows/docker-build-and-push.yaml new file mode 100644 index 0000000..ab17e81 --- /dev/null +++ b/github/workflows/docker-build-and-push.yaml @@ -0,0 +1,79 @@ +name: Build AOC Docker Images + +on: + push: + branches: [ main ] + tags: + - '*' + pull_request: + branches: [ main ] + + workflow_dispatch: + +jobs: + build: + runs-on: + - lcas + - qemu + strategy: + fail-fast: false + matrix: + include: + - base_image: ros:humble + push_image: ros + push_tag_prefix: humble + dockerfile: base.dockerfile + + steps: + - name: Node Js + uses: actions/setup-node@v4 + - uses: actions/checkout@v3 + - name: What + run: echo "BRANCH=${GITHUB_REF##*/}" >> $GITHUB_ENV + - name: Docker Login LCAS + uses: docker/login-action@v3 + with: + # Server address of Docker registry. If not set then will default to Docker Hub + registry: lcas.lincoln.ac.uk + # Username used to log against the Docker registry + username: ${{ secrets.LCAS_REGISTRY_PUSHER }} + # Password or personal access token used to log against the Docker registry + password: ${{ secrets.LCAS_REGISTRY_TOKEN }} + + - name: Docker meta + id: meta + uses: docker/metadata-action@v5 + with: + flavor: | + latest=false + labels: | + org.opencontainers.image.description=AOC Docker Image (flavour: ${{ matrix.push_tag }}, multiarch) + org.opencontainers.image.authors=L-CAS Team + # list of Docker images to use as base name for tags + images: | + lcas.lincoln.ac.uk/${{ matrix.push_image }} + # generate Docker tags based on the following events/attributes + tags: | + type=raw,value=${{ matrix.push_tag_prefix }}-staging + type=raw,enable=${{ github.event_name != 'pull_request' }},value=${{ matrix.push_tag_prefix }}-latest + type=ref,enable=${{ github.event_name != 'pull_request' }},event=branch,prefix=${{ matrix.push_tag_prefix }}- + type=semver,pattern={{version}},prefix=${{ matrix.push_tag_prefix }}- + type=semver,pattern={{major}}.{{minor}},prefix=${{ matrix.push_tag_prefix }}- + type=semver,pattern={{major}},prefix=${{ matrix.push_tag_prefix }}- + + - name: Set up Docker Buildx + uses: docker/setup-buildx-action@v3 + + - name: Build Docker Image + uses: docker/build-push-action@v6 + with: + context: ./docker + file: ./${{ matrix.dockerfile }} + platforms: linux/amd64,linux/arm64 + push: true + cache-from: type=registry,ref=lcas.lincoln.ac.uk/cache/${{ matrix.push_image }}:${{ matrix.push_tag_prefix }} + cache-to: type=registry,ref=lcas.lincoln.ac.uk/cache/${{ matrix.push_image }}:${{ matrix.push_tag_prefix }},mode=max + tags: ${{ steps.meta.outputs.tags }} + labels: ${{ steps.meta.outputs.labels }} + build-args: | + BASE_IMAGE=${{ matrix.base_image }} From 6400cd7c9f7c57fc6d68120d2fbae91a991006d6 Mon Sep 17 00:00:00 2001 From: Marc Hanheide Date: Mon, 16 Feb 2026 11:32:35 +0000 Subject: [PATCH 02/54] Add GitHub Actions workflow for building AOC Docker images with multiarch support --- {github => .github}/workflows/docker-build-and-push.yaml | 0 1 file changed, 0 insertions(+), 0 deletions(-) rename {github => .github}/workflows/docker-build-and-push.yaml (100%) diff --git a/github/workflows/docker-build-and-push.yaml b/.github/workflows/docker-build-and-push.yaml similarity index 100% rename from github/workflows/docker-build-and-push.yaml rename to .github/workflows/docker-build-and-push.yaml From b3e9a40b7b94feb927fce50c20cadf693834bc17 Mon Sep 17 00:00:00 2001 From: Marc Hanheide Date: Mon, 16 Feb 2026 11:36:17 +0000 Subject: [PATCH 03/54] Update Docker build workflow to enable sequential builds and dynamic architecture support --- .github/workflows/docker-build-and-push.yaml | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/.github/workflows/docker-build-and-push.yaml b/.github/workflows/docker-build-and-push.yaml index ab17e81..9bf0f77 100644 --- a/.github/workflows/docker-build-and-push.yaml +++ b/.github/workflows/docker-build-and-push.yaml @@ -16,13 +16,16 @@ jobs: - lcas - qemu strategy: - fail-fast: false + fail-fast: true + # make sure we build them sequentially to maximise cache hits + max-parallel: 1 matrix: include: - base_image: ros:humble push_image: ros push_tag_prefix: humble dockerfile: base.dockerfile + architectures: linux/amd64,linux/arm64 steps: - name: Node Js @@ -69,7 +72,7 @@ jobs: with: context: ./docker file: ./${{ matrix.dockerfile }} - platforms: linux/amd64,linux/arm64 + platforms: ${{ matrix.architectures }} push: true cache-from: type=registry,ref=lcas.lincoln.ac.uk/cache/${{ matrix.push_image }}:${{ matrix.push_tag_prefix }} cache-to: type=registry,ref=lcas.lincoln.ac.uk/cache/${{ matrix.push_image }}:${{ matrix.push_tag_prefix }},mode=max From 7f2808b19d0f29bc88b2e4e525f92a9905ba22bf Mon Sep 17 00:00:00 2001 From: Marc Hanheide Date: Mon, 16 Feb 2026 11:42:35 +0000 Subject: [PATCH 04/54] Add CUDA Dockerfile and update build workflow for CUDA support --- .github/workflows/docker-build-and-push.yaml | 9 +++++- base.dockerfile | 2 +- cuda.dockerfile | 34 ++++++++++++++++++++ 3 files changed, 43 insertions(+), 2 deletions(-) create mode 100644 cuda.dockerfile diff --git a/.github/workflows/docker-build-and-push.yaml b/.github/workflows/docker-build-and-push.yaml index 9bf0f77..b65e4df 100644 --- a/.github/workflows/docker-build-and-push.yaml +++ b/.github/workflows/docker-build-and-push.yaml @@ -26,7 +26,14 @@ jobs: push_tag_prefix: humble dockerfile: base.dockerfile architectures: linux/amd64,linux/arm64 - + + - base_image: nvidia/cuda:11.8.0-runtime-ubuntu22.04 + push_image: ros_cuda + push_tag_prefix: humble + dockerfile: cuda.dockerfile + architectures: linux/amd64 + + steps: - name: Node Js uses: actions/setup-node@v4 diff --git a/base.dockerfile b/base.dockerfile index 8191798..b377b35 100644 --- a/base.dockerfile +++ b/base.dockerfile @@ -13,4 +13,4 @@ RUN apt-get update && apt-get upgrade -y && apt-get install -y \ wget \ unzip -RUN rosdep init && rosdep update \ No newline at end of file +RUN . /opt/ros/${ROS_DISTRO}/setup.sh && rosdep update \ No newline at end of file diff --git a/cuda.dockerfile b/cuda.dockerfile new file mode 100644 index 0000000..e09d523 --- /dev/null +++ b/cuda.dockerfile @@ -0,0 +1,34 @@ +ARG BASE_IMAGE=nvidia/cuda:11.8.0-runtime-ubuntu22.04 + +########################################### +FROM ${BASE_IMAGE} AS base + +ENV DEBIAN_FRONTEND=noninteractive + +# Install language +RUN apt-get update ; \ + apt-get upgrade -y && \ + apt-get install -y --no-install-recommends \ + locales \ + curl \ + gnupg2 \ + lsb-release \ + git \ + nano \ + python3-setuptools \ + software-properties-common \ + wget \ + tzdata \ + && locale-gen en_US.UTF-8 \ + && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 \ + && rm -rf /var/lib/apt/lists/* +ENV LANG=en_US.UTF-8 + +RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg + +# Prepare ROS2 +RUN add-apt-repository universe \ + && curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \ + && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null + + From 6e0c408e8f7e05e3077e580e49fecde38c324d4d Mon Sep 17 00:00:00 2001 From: Marc Hanheide Date: Mon, 16 Feb 2026 11:44:20 +0000 Subject: [PATCH 05/54] Refactor Docker build configuration to use ROS_DISTRO variable for tagging and installation --- .github/workflows/docker-build-and-push.yaml | 21 ++++++++++---------- base.dockerfile | 7 ++++++- 2 files changed, 17 insertions(+), 11 deletions(-) diff --git a/.github/workflows/docker-build-and-push.yaml b/.github/workflows/docker-build-and-push.yaml index b65e4df..093c215 100644 --- a/.github/workflows/docker-build-and-push.yaml +++ b/.github/workflows/docker-build-and-push.yaml @@ -23,13 +23,13 @@ jobs: include: - base_image: ros:humble push_image: ros - push_tag_prefix: humble + ros_dist: humble dockerfile: base.dockerfile architectures: linux/amd64,linux/arm64 - base_image: nvidia/cuda:11.8.0-runtime-ubuntu22.04 push_image: ros_cuda - push_tag_prefix: humble + ros_dist: humble dockerfile: cuda.dockerfile architectures: linux/amd64 @@ -64,12 +64,12 @@ jobs: lcas.lincoln.ac.uk/${{ matrix.push_image }} # generate Docker tags based on the following events/attributes tags: | - type=raw,value=${{ matrix.push_tag_prefix }}-staging - type=raw,enable=${{ github.event_name != 'pull_request' }},value=${{ matrix.push_tag_prefix }}-latest - type=ref,enable=${{ github.event_name != 'pull_request' }},event=branch,prefix=${{ matrix.push_tag_prefix }}- - type=semver,pattern={{version}},prefix=${{ matrix.push_tag_prefix }}- - type=semver,pattern={{major}}.{{minor}},prefix=${{ matrix.push_tag_prefix }}- - type=semver,pattern={{major}},prefix=${{ matrix.push_tag_prefix }}- + type=raw,value=${{ matrix.ros_dist }}-staging + type=raw,enable=${{ github.event_name != 'pull_request' }},value=${{ matrix.ros_dist }}-latest + type=ref,enable=${{ github.event_name != 'pull_request' }},event=branch,prefix=${{ matrix.ros_dist }}- + type=semver,pattern={{version}},prefix=${{ matrix.ros_dist }}- + type=semver,pattern={{major}}.{{minor}},prefix=${{ matrix.ros_dist }}- + type=semver,pattern={{major}},prefix=${{ matrix.ros_dist }}- - name: Set up Docker Buildx uses: docker/setup-buildx-action@v3 @@ -81,9 +81,10 @@ jobs: file: ./${{ matrix.dockerfile }} platforms: ${{ matrix.architectures }} push: true - cache-from: type=registry,ref=lcas.lincoln.ac.uk/cache/${{ matrix.push_image }}:${{ matrix.push_tag_prefix }} - cache-to: type=registry,ref=lcas.lincoln.ac.uk/cache/${{ matrix.push_image }}:${{ matrix.push_tag_prefix }},mode=max + cache-from: type=registry,ref=lcas.lincoln.ac.uk/cache/${{ matrix.push_image }}:${{ matrix.ros_dist }} + cache-to: type=registry,ref=lcas.lincoln.ac.uk/cache/${{ matrix.push_image }}:${{ matrix.ros_dist }},mode=max tags: ${{ steps.meta.outputs.tags }} labels: ${{ steps.meta.outputs.labels }} build-args: | BASE_IMAGE=${{ matrix.base_image }} + ROS_DISTRO=${{ matrix.ros_dist }} diff --git a/base.dockerfile b/base.dockerfile index b377b35..d1381d7 100644 --- a/base.dockerfile +++ b/base.dockerfile @@ -1,7 +1,10 @@ ARG BASE_IMAGE=ros:humble +ARG ROS_DISTRO=humble + FROM ${BASE_IMAGE} AS base ENV BASE_IMAGE=${BASE_IMAGE} +ENV ROS_DISTRO=${ROS_DISTRO} ENV DEBIAN_FRONTEND=noninteractive @@ -11,6 +14,8 @@ RUN apt-get update && apt-get upgrade -y && apt-get install -y \ git \ curl \ wget \ - unzip + unzip \ + ros-${ROS_DISTRO}-ros-base \ + && rm -rf /var/lib/apt/lists/* RUN . /opt/ros/${ROS_DISTRO}/setup.sh && rosdep update \ No newline at end of file From a1fe98dddbbbea9357cb1d491f1f238303593bf4 Mon Sep 17 00:00:00 2001 From: Marc Hanheide Date: Mon, 16 Feb 2026 12:06:32 +0000 Subject: [PATCH 06/54] Add ROS installation and setup commands to CUDA Dockerfile --- base.dockerfile | 3 ++- cuda.dockerfile | 5 +++++ 2 files changed, 7 insertions(+), 1 deletion(-) diff --git a/base.dockerfile b/base.dockerfile index d1381d7..ee15977 100644 --- a/base.dockerfile +++ b/base.dockerfile @@ -18,4 +18,5 @@ RUN apt-get update && apt-get upgrade -y && apt-get install -y \ ros-${ROS_DISTRO}-ros-base \ && rm -rf /var/lib/apt/lists/* -RUN . /opt/ros/${ROS_DISTRO}/setup.sh && rosdep update \ No newline at end of file +RUN . /opt/ros/${ROS_DISTRO}/setup.sh && rosdep update + diff --git a/cuda.dockerfile b/cuda.dockerfile index e09d523..777155c 100644 --- a/cuda.dockerfile +++ b/cuda.dockerfile @@ -32,3 +32,8 @@ RUN add-apt-repository universe \ && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null +RUN apt-get update && apt-get install -y --no-install-recommends \ + ros-${ROS_DISTRO}-ros-base \ + && rm -rf /var/lib/apt/lists/* + +RUN . /opt/ros/${ROS_DISTRO}/setup.sh && rosdep update From a16011ab729d69aeb5fd3a24771158a9b4029ae9 Mon Sep 17 00:00:00 2001 From: Marc Hanheide Date: Mon, 16 Feb 2026 12:15:53 +0000 Subject: [PATCH 07/54] Add ROS_DISTRO argument and environment variables to CUDA Dockerfile --- cuda.dockerfile | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/cuda.dockerfile b/cuda.dockerfile index 777155c..89ba7fc 100644 --- a/cuda.dockerfile +++ b/cuda.dockerfile @@ -1,7 +1,12 @@ ARG BASE_IMAGE=nvidia/cuda:11.8.0-runtime-ubuntu22.04 +ARG ROS_DISTRO=humble + ########################################### FROM ${BASE_IMAGE} AS base + +ENV BASE_IMAGE=${BASE_IMAGE} +ENV ROS_DISTRO=${ROS_DISTRO} ENV DEBIAN_FRONTEND=noninteractive From 71f257b209db76678d2fea8f85090680445ca048 Mon Sep 17 00:00:00 2001 From: Marc Hanheide Date: Mon, 16 Feb 2026 12:23:42 +0000 Subject: [PATCH 08/54] Add ARG declarations for BASE_IMAGE and ROS_DISTRO in Dockerfiles --- base.dockerfile | 2 ++ cuda.dockerfile | 2 ++ 2 files changed, 4 insertions(+) diff --git a/base.dockerfile b/base.dockerfile index ee15977..5dd6d73 100644 --- a/base.dockerfile +++ b/base.dockerfile @@ -2,6 +2,8 @@ ARG BASE_IMAGE=ros:humble ARG ROS_DISTRO=humble FROM ${BASE_IMAGE} AS base +ARG BASE_IMAGE +ARG ROS_DISTRO ENV BASE_IMAGE=${BASE_IMAGE} ENV ROS_DISTRO=${ROS_DISTRO} diff --git a/cuda.dockerfile b/cuda.dockerfile index 89ba7fc..44004b7 100644 --- a/cuda.dockerfile +++ b/cuda.dockerfile @@ -4,6 +4,8 @@ ARG ROS_DISTRO=humble ########################################### FROM ${BASE_IMAGE} AS base +ARG BASE_IMAGE +ARG ROS_DISTRO ENV BASE_IMAGE=${BASE_IMAGE} ENV ROS_DISTRO=${ROS_DISTRO} From 3f967cb8bd0c67acfe9000775f0dc9f9314d3a4d Mon Sep 17 00:00:00 2001 From: Marc Hanheide Date: Mon, 16 Feb 2026 12:37:09 +0000 Subject: [PATCH 09/54] Add CUDA Dockerfile stages for base and desktop images with ROS support --- .github/workflows/docker-build-and-push.yaml | 9 +++++++++ cuda.dockerfile | 6 ++++++ 2 files changed, 15 insertions(+) diff --git a/.github/workflows/docker-build-and-push.yaml b/.github/workflows/docker-build-and-push.yaml index 093c215..e9a6248 100644 --- a/.github/workflows/docker-build-and-push.yaml +++ b/.github/workflows/docker-build-and-push.yaml @@ -24,12 +24,21 @@ jobs: - base_image: ros:humble push_image: ros ros_dist: humble + stage: base dockerfile: base.dockerfile architectures: linux/amd64,linux/arm64 - base_image: nvidia/cuda:11.8.0-runtime-ubuntu22.04 push_image: ros_cuda ros_dist: humble + stage: base + dockerfile: cuda.dockerfile + architectures: linux/amd64 + + - base_image: nvidia/cuda:11.8.0-runtime-ubuntu22.04 + push_image: ros_cuda_desktop + ros_dist: humble + stage: desktop dockerfile: cuda.dockerfile architectures: linux/amd64 diff --git a/cuda.dockerfile b/cuda.dockerfile index 44004b7..61fac2c 100644 --- a/cuda.dockerfile +++ b/cuda.dockerfile @@ -26,6 +26,7 @@ RUN apt-get update ; \ software-properties-common \ wget \ tzdata \ + python3-rosdep \ && locale-gen en_US.UTF-8 \ && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 \ && rm -rf /var/lib/apt/lists/* @@ -44,3 +45,8 @@ RUN apt-get update && apt-get install -y --no-install-recommends \ && rm -rf /var/lib/apt/lists/* RUN . /opt/ros/${ROS_DISTRO}/setup.sh && rosdep update + +FROM base AS desktop +RUN apt-get update && apt-get install -y --no-install-recommends \ + ros-${ROS_DISTRO}-desktop \ + && rm -rf /var/lib/apt/lists/* From 14e9331e129fe58756cb9aa083d28af2c69e49eb Mon Sep 17 00:00:00 2001 From: Marc Hanheide Date: Mon, 16 Feb 2026 12:41:28 +0000 Subject: [PATCH 10/54] Comment out cache-from and cache-to lines in Docker build configuration --- .github/workflows/docker-build-and-push.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/docker-build-and-push.yaml b/.github/workflows/docker-build-and-push.yaml index e9a6248..4c803f0 100644 --- a/.github/workflows/docker-build-and-push.yaml +++ b/.github/workflows/docker-build-and-push.yaml @@ -90,8 +90,8 @@ jobs: file: ./${{ matrix.dockerfile }} platforms: ${{ matrix.architectures }} push: true - cache-from: type=registry,ref=lcas.lincoln.ac.uk/cache/${{ matrix.push_image }}:${{ matrix.ros_dist }} - cache-to: type=registry,ref=lcas.lincoln.ac.uk/cache/${{ matrix.push_image }}:${{ matrix.ros_dist }},mode=max + #cache-from: type=registry,ref=lcas.lincoln.ac.uk/cache/${{ matrix.push_image }}:${{ matrix.ros_dist }} + #cache-to: type=registry,ref=lcas.lincoln.ac.uk/cache/${{ matrix.push_image }}:${{ matrix.ros_dist }},mode=max tags: ${{ steps.meta.outputs.tags }} labels: ${{ steps.meta.outputs.labels }} build-args: | From 728dad135128d38a887dba7747a6d94f56fab8b0 Mon Sep 17 00:00:00 2001 From: Marc Hanheide Date: Mon, 16 Feb 2026 12:42:59 +0000 Subject: [PATCH 11/54] Move python3-rosdep installation to the correct stage in Dockerfile --- cuda.dockerfile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cuda.dockerfile b/cuda.dockerfile index 61fac2c..942257c 100644 --- a/cuda.dockerfile +++ b/cuda.dockerfile @@ -26,7 +26,6 @@ RUN apt-get update ; \ software-properties-common \ wget \ tzdata \ - python3-rosdep \ && locale-gen en_US.UTF-8 \ && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 \ && rm -rf /var/lib/apt/lists/* @@ -42,6 +41,7 @@ RUN add-apt-repository universe \ RUN apt-get update && apt-get install -y --no-install-recommends \ ros-${ROS_DISTRO}-ros-base \ + python3-rosdep \ && rm -rf /var/lib/apt/lists/* RUN . /opt/ros/${ROS_DISTRO}/setup.sh && rosdep update From 3749deb3aafd1adfe5631f2a1c05ce8f099809a6 Mon Sep 17 00:00:00 2001 From: Marc Hanheide Date: Mon, 16 Feb 2026 12:48:56 +0000 Subject: [PATCH 12/54] Add target specification for Docker build stage in workflow --- .github/workflows/docker-build-and-push.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/.github/workflows/docker-build-and-push.yaml b/.github/workflows/docker-build-and-push.yaml index 4c803f0..699268e 100644 --- a/.github/workflows/docker-build-and-push.yaml +++ b/.github/workflows/docker-build-and-push.yaml @@ -90,6 +90,7 @@ jobs: file: ./${{ matrix.dockerfile }} platforms: ${{ matrix.architectures }} push: true + target: ${{ matrix.stage }} #cache-from: type=registry,ref=lcas.lincoln.ac.uk/cache/${{ matrix.push_image }}:${{ matrix.ros_dist }} #cache-to: type=registry,ref=lcas.lincoln.ac.uk/cache/${{ matrix.push_image }}:${{ matrix.ros_dist }},mode=max tags: ${{ steps.meta.outputs.tags }} From 0d530ee6add72e9f18902ed45b5daf0c474554ac Mon Sep 17 00:00:00 2001 From: Marc Hanheide Date: Mon, 16 Feb 2026 12:54:57 +0000 Subject: [PATCH 13/54] Add additional CUDA Dockerfile stages for base and desktop images with ROS support --- .github/workflows/docker-build-and-push.yaml | 14 ++++++++++++++ 1 file changed, 14 insertions(+) diff --git a/.github/workflows/docker-build-and-push.yaml b/.github/workflows/docker-build-and-push.yaml index 699268e..ee50f9d 100644 --- a/.github/workflows/docker-build-and-push.yaml +++ b/.github/workflows/docker-build-and-push.yaml @@ -42,6 +42,20 @@ jobs: dockerfile: cuda.dockerfile architectures: linux/amd64 + - base_image: nvidia/cuda:12.6.3-cudnn-devel-ubuntu24.04 + push_image: ros_cuda + ros_dist: jazzy + stage: base + dockerfile: cuda.dockerfile + architectures: linux/amd64 + + - base_image: nvidia/cuda:12.6.3-cudnn-devel-ubuntu24.04 + push_image: ros_cuda_desktop + ros_dist: jazzy + stage: desktop + dockerfile: cuda.dockerfile + architectures: linux/amd64 + steps: - name: Node Js From c55cbf2730ff26307481f85885c35fa244436ceb Mon Sep 17 00:00:00 2001 From: Marc Hanheide Date: Mon, 16 Feb 2026 13:01:26 +0000 Subject: [PATCH 14/54] Uncomment cache-from and cache-to lines in Docker build configuration --- .github/workflows/docker-build-and-push.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/docker-build-and-push.yaml b/.github/workflows/docker-build-and-push.yaml index ee50f9d..85a53c8 100644 --- a/.github/workflows/docker-build-and-push.yaml +++ b/.github/workflows/docker-build-and-push.yaml @@ -105,8 +105,8 @@ jobs: platforms: ${{ matrix.architectures }} push: true target: ${{ matrix.stage }} - #cache-from: type=registry,ref=lcas.lincoln.ac.uk/cache/${{ matrix.push_image }}:${{ matrix.ros_dist }} - #cache-to: type=registry,ref=lcas.lincoln.ac.uk/cache/${{ matrix.push_image }}:${{ matrix.ros_dist }},mode=max + cache-from: type=registry,ref=lcas.lincoln.ac.uk/cache/${{ matrix.push_image }}:${{ matrix.ros_dist }} + cache-to: type=registry,ref=lcas.lincoln.ac.uk/cache/${{ matrix.push_image }}:${{ matrix.ros_dist }},mode=max tags: ${{ steps.meta.outputs.tags }} labels: ${{ steps.meta.outputs.labels }} build-args: | From ac535ef1435ea3307093b752a34421386ef1fe3d Mon Sep 17 00:00:00 2001 From: Marc Hanheide Date: Mon, 16 Feb 2026 13:16:23 +0000 Subject: [PATCH 15/54] Initialize rosdep before updating in Dockerfile --- cuda.dockerfile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cuda.dockerfile b/cuda.dockerfile index 942257c..dbf6ef3 100644 --- a/cuda.dockerfile +++ b/cuda.dockerfile @@ -44,7 +44,7 @@ RUN apt-get update && apt-get install -y --no-install-recommends \ python3-rosdep \ && rm -rf /var/lib/apt/lists/* -RUN . /opt/ros/${ROS_DISTRO}/setup.sh && rosdep update +RUN . /opt/ros/${ROS_DISTRO}/setup.sh && rosdep init && rosdep update FROM base AS desktop RUN apt-get update && apt-get install -y --no-install-recommends \ From 1a5d2bf35fece0ea3ff34dc3593f0e258a87a01d Mon Sep 17 00:00:00 2001 From: Marc Hanheide Date: Mon, 16 Feb 2026 13:21:16 +0000 Subject: [PATCH 16/54] Add support for ROS Jazzy in Docker build configuration --- .github/workflows/docker-build-and-push.yaml | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/.github/workflows/docker-build-and-push.yaml b/.github/workflows/docker-build-and-push.yaml index 85a53c8..0df782d 100644 --- a/.github/workflows/docker-build-and-push.yaml +++ b/.github/workflows/docker-build-and-push.yaml @@ -21,6 +21,7 @@ jobs: max-parallel: 1 matrix: include: + # humble - base_image: ros:humble push_image: ros ros_dist: humble @@ -42,6 +43,14 @@ jobs: dockerfile: cuda.dockerfile architectures: linux/amd64 + # jazzy + - base_image: ros:jazzy + push_image: ros + ros_dist: jazzy + stage: base + dockerfile: base.dockerfile + architectures: linux/amd64,linux/arm64 + - base_image: nvidia/cuda:12.6.3-cudnn-devel-ubuntu24.04 push_image: ros_cuda ros_dist: jazzy From 37b628fbb1c0c6fdab91cd259e22c06d7f5487a3 Mon Sep 17 00:00:00 2001 From: Marc Hanheide Date: Mon, 16 Feb 2026 13:52:59 +0000 Subject: [PATCH 17/54] Refactor Docker build configuration by removing unused desktop stage and updating image descriptions --- .github/workflows/docker-build-and-push.yaml | 22 +------------------- cuda.dockerfile | 5 ----- 2 files changed, 1 insertion(+), 26 deletions(-) diff --git a/.github/workflows/docker-build-and-push.yaml b/.github/workflows/docker-build-and-push.yaml index 0df782d..7454247 100644 --- a/.github/workflows/docker-build-and-push.yaml +++ b/.github/workflows/docker-build-and-push.yaml @@ -25,21 +25,12 @@ jobs: - base_image: ros:humble push_image: ros ros_dist: humble - stage: base dockerfile: base.dockerfile architectures: linux/amd64,linux/arm64 - base_image: nvidia/cuda:11.8.0-runtime-ubuntu22.04 push_image: ros_cuda ros_dist: humble - stage: base - dockerfile: cuda.dockerfile - architectures: linux/amd64 - - - base_image: nvidia/cuda:11.8.0-runtime-ubuntu22.04 - push_image: ros_cuda_desktop - ros_dist: humble - stage: desktop dockerfile: cuda.dockerfile architectures: linux/amd64 @@ -47,24 +38,14 @@ jobs: - base_image: ros:jazzy push_image: ros ros_dist: jazzy - stage: base dockerfile: base.dockerfile architectures: linux/amd64,linux/arm64 - base_image: nvidia/cuda:12.6.3-cudnn-devel-ubuntu24.04 push_image: ros_cuda ros_dist: jazzy - stage: base dockerfile: cuda.dockerfile architectures: linux/amd64 - - - base_image: nvidia/cuda:12.6.3-cudnn-devel-ubuntu24.04 - push_image: ros_cuda_desktop - ros_dist: jazzy - stage: desktop - dockerfile: cuda.dockerfile - architectures: linux/amd64 - steps: - name: Node Js @@ -89,7 +70,7 @@ jobs: flavor: | latest=false labels: | - org.opencontainers.image.description=AOC Docker Image (flavour: ${{ matrix.push_tag }}, multiarch) + org.opencontainers.image.description=AOC Docker Image (flavour: ${{ matrix.push_image }}, ${{ matrix.ros_dist }}, ${{ matrix.architectures }}) org.opencontainers.image.authors=L-CAS Team # list of Docker images to use as base name for tags images: | @@ -113,7 +94,6 @@ jobs: file: ./${{ matrix.dockerfile }} platforms: ${{ matrix.architectures }} push: true - target: ${{ matrix.stage }} cache-from: type=registry,ref=lcas.lincoln.ac.uk/cache/${{ matrix.push_image }}:${{ matrix.ros_dist }} cache-to: type=registry,ref=lcas.lincoln.ac.uk/cache/${{ matrix.push_image }}:${{ matrix.ros_dist }},mode=max tags: ${{ steps.meta.outputs.tags }} diff --git a/cuda.dockerfile b/cuda.dockerfile index dbf6ef3..7c273aa 100644 --- a/cuda.dockerfile +++ b/cuda.dockerfile @@ -45,8 +45,3 @@ RUN apt-get update && apt-get install -y --no-install-recommends \ && rm -rf /var/lib/apt/lists/* RUN . /opt/ros/${ROS_DISTRO}/setup.sh && rosdep init && rosdep update - -FROM base AS desktop -RUN apt-get update && apt-get install -y --no-install-recommends \ - ros-${ROS_DISTRO}-desktop \ - && rm -rf /var/lib/apt/lists/* From 2e8ba15993fe78f4430b814fe16d5df8fa89f6fc Mon Sep 17 00:00:00 2001 From: Marc Hanheide Date: Mon, 16 Feb 2026 14:02:18 +0000 Subject: [PATCH 18/54] Add reusable Docker image build workflow and CUDA desktop Dockerfile --- .github/workflows/_build-image.yaml | 74 +++++++++ .github/workflows/docker-build-and-push.yaml | 151 ++++++++----------- cuda_desktop.dockerfile | 8 + 3 files changed, 145 insertions(+), 88 deletions(-) create mode 100644 .github/workflows/_build-image.yaml create mode 100644 cuda_desktop.dockerfile diff --git a/.github/workflows/_build-image.yaml b/.github/workflows/_build-image.yaml new file mode 100644 index 0000000..e8e85e1 --- /dev/null +++ b/.github/workflows/_build-image.yaml @@ -0,0 +1,74 @@ +name: Build a single Docker image (reusable) + +on: + workflow_call: + inputs: + base_image: + description: The FROM base image + required: true + type: string + push_image: + description: Image name on the LCAS registry + required: true + type: string + ros_dist: + required: true + type: string + dockerfile: + required: true + type: string + architectures: + required: true + type: string + secrets: + LCAS_REGISTRY_PUSHER: + required: true + LCAS_REGISTRY_TOKEN: + required: true + +jobs: + build: + runs-on: [lcas, qemu] + steps: + - uses: actions/setup-node@v4 + - uses: actions/checkout@v3 + - run: echo "BRANCH=${GITHUB_REF##*/}" >> $GITHUB_ENV + + - uses: docker/login-action@v3 + with: + registry: lcas.lincoln.ac.uk + username: ${{ secrets.LCAS_REGISTRY_PUSHER }} + password: ${{ secrets.LCAS_REGISTRY_TOKEN }} + + - name: Docker meta + id: meta + uses: docker/metadata-action@v5 + with: + flavor: latest=false + labels: | + org.opencontainers.image.description=AOC Docker Image (${{ inputs.push_image }}, ${{ inputs.ros_dist }}) + org.opencontainers.image.authors=L-CAS Team + images: lcas.lincoln.ac.uk/${{ inputs.push_image }} + tags: | + type=raw,value=${{ inputs.ros_dist }}-staging + type=raw,enable=${{ github.event_name != 'pull_request' }},value=${{ inputs.ros_dist }}-latest + type=ref,enable=${{ github.event_name != 'pull_request' }},event=branch,prefix=${{ inputs.ros_dist }}- + type=semver,pattern={{version}},prefix=${{ inputs.ros_dist }}- + type=semver,pattern={{major}}.{{minor}},prefix=${{ inputs.ros_dist }}- + type=semver,pattern={{major}},prefix=${{ inputs.ros_dist }}- + + - uses: docker/setup-buildx-action@v3 + + - uses: docker/build-push-action@v6 + with: + context: ./docker + file: ./${{ inputs.dockerfile }} + platforms: ${{ inputs.architectures }} + push: true + cache-from: type=registry,ref=lcas.lincoln.ac.uk/cache/${{ inputs.push_image }}:${{ inputs.ros_dist }} + cache-to: type=registry,ref=lcas.lincoln.ac.uk/cache/${{ inputs.push_image }}:${{ inputs.ros_dist }},mode=max + tags: ${{ steps.meta.outputs.tags }} + labels: ${{ steps.meta.outputs.labels }} + build-args: | + BASE_IMAGE=${{ inputs.base_image }} + ROS_DISTRO=${{ inputs.ros_dist }} \ No newline at end of file diff --git a/.github/workflows/docker-build-and-push.yaml b/.github/workflows/docker-build-and-push.yaml index 7454247..75989e4 100644 --- a/.github/workflows/docker-build-and-push.yaml +++ b/.github/workflows/docker-build-and-push.yaml @@ -3,101 +3,76 @@ name: Build AOC Docker Images on: push: branches: [ main ] - tags: - - '*' + tags: [ '*' ] pull_request: branches: [ main ] - workflow_dispatch: jobs: - build: - runs-on: - - lcas - - qemu - strategy: - fail-fast: true - # make sure we build them sequentially to maximise cache hits - max-parallel: 1 - matrix: - include: - # humble - - base_image: ros:humble - push_image: ros - ros_dist: humble - dockerfile: base.dockerfile - architectures: linux/amd64,linux/arm64 - - base_image: nvidia/cuda:11.8.0-runtime-ubuntu22.04 - push_image: ros_cuda - ros_dist: humble - dockerfile: cuda.dockerfile - architectures: linux/amd64 + # ── Level 0: no dependencies ────────────────────────────────────────────── + + ros-humble: + uses: ./.github/workflows/_build-image.yaml + with: + base_image: ros:humble + push_image: ros + ros_dist: humble + dockerfile: base.dockerfile + architectures: linux/amd64,linux/arm64 + secrets: inherit + + ros-jazzy: + uses: ./.github/workflows/_build-image.yaml + with: + base_image: ros:jazzy + push_image: ros + ros_dist: jazzy + dockerfile: base.dockerfile + architectures: linux/amd64,linux/arm64 + secrets: inherit + + ros-cuda-humble: + uses: ./.github/workflows/_build-image.yaml + with: + base_image: nvidia/cuda:11.8.0-runtime-ubuntu22.04 + push_image: ros_cuda + ros_dist: humble + dockerfile: cuda.dockerfile + architectures: linux/amd64 + secrets: inherit - # jazzy - - base_image: ros:jazzy - push_image: ros - ros_dist: jazzy - dockerfile: base.dockerfile - architectures: linux/amd64,linux/arm64 + ros-cuda-jazzy: + uses: ./.github/workflows/_build-image.yaml + with: + base_image: nvidia/cuda:12.6.3-cudnn-devel-ubuntu24.04 + push_image: ros_cuda + ros_dist: jazzy + dockerfile: cuda.dockerfile + architectures: linux/amd64 + secrets: inherit - - base_image: nvidia/cuda:12.6.3-cudnn-devel-ubuntu24.04 - push_image: ros_cuda - ros_dist: jazzy - dockerfile: cuda.dockerfile - architectures: linux/amd64 - - steps: - - name: Node Js - uses: actions/setup-node@v4 - - uses: actions/checkout@v3 - - name: What - run: echo "BRANCH=${GITHUB_REF##*/}" >> $GITHUB_ENV - - name: Docker Login LCAS - uses: docker/login-action@v3 - with: - # Server address of Docker registry. If not set then will default to Docker Hub - registry: lcas.lincoln.ac.uk - # Username used to log against the Docker registry - username: ${{ secrets.LCAS_REGISTRY_PUSHER }} - # Password or personal access token used to log against the Docker registry - password: ${{ secrets.LCAS_REGISTRY_TOKEN }} + # ── Level 1: base_image is the exact digest from level 0 ───────────────── - - name: Docker meta - id: meta - uses: docker/metadata-action@v5 - with: - flavor: | - latest=false - labels: | - org.opencontainers.image.description=AOC Docker Image (flavour: ${{ matrix.push_image }}, ${{ matrix.ros_dist }}, ${{ matrix.architectures }}) - org.opencontainers.image.authors=L-CAS Team - # list of Docker images to use as base name for tags - images: | - lcas.lincoln.ac.uk/${{ matrix.push_image }} - # generate Docker tags based on the following events/attributes - tags: | - type=raw,value=${{ matrix.ros_dist }}-staging - type=raw,enable=${{ github.event_name != 'pull_request' }},value=${{ matrix.ros_dist }}-latest - type=ref,enable=${{ github.event_name != 'pull_request' }},event=branch,prefix=${{ matrix.ros_dist }}- - type=semver,pattern={{version}},prefix=${{ matrix.ros_dist }}- - type=semver,pattern={{major}}.{{minor}},prefix=${{ matrix.ros_dist }}- - type=semver,pattern={{major}},prefix=${{ matrix.ros_dist }}- + ros-cuda-desktop-humble: + needs: ros-cuda-humble + uses: ./.github/workflows/_build-image.yaml + with: + # Digest is immutable — no staging tag, no race condition, no cleanup + base_image: lcas.lincoln.ac.uk/ros_cuda@${{ needs.ros-cuda-humble.outputs.digest }} + push_image: ros_cuda_desktop + ros_dist: humble + dockerfile: cuda_desktop.dockerfile + architectures: linux/amd64 + secrets: inherit - - name: Set up Docker Buildx - uses: docker/setup-buildx-action@v3 - - - name: Build Docker Image - uses: docker/build-push-action@v6 - with: - context: ./docker - file: ./${{ matrix.dockerfile }} - platforms: ${{ matrix.architectures }} - push: true - cache-from: type=registry,ref=lcas.lincoln.ac.uk/cache/${{ matrix.push_image }}:${{ matrix.ros_dist }} - cache-to: type=registry,ref=lcas.lincoln.ac.uk/cache/${{ matrix.push_image }}:${{ matrix.ros_dist }},mode=max - tags: ${{ steps.meta.outputs.tags }} - labels: ${{ steps.meta.outputs.labels }} - build-args: | - BASE_IMAGE=${{ matrix.base_image }} - ROS_DISTRO=${{ matrix.ros_dist }} + ros-cuda-desktop-jazzy: + needs: ros-cuda-jazzy + uses: ./.github/workflows/_build-image.yaml + with: + base_image: lcas.lincoln.ac.uk/ros_cuda@${{ needs.ros-cuda-jazzy.outputs.digest }} + push_image: ros_cuda_desktop + ros_dist: jazzy + dockerfile: cuda_desktop.dockerfile + architectures: linux/amd64 + secrets: inherit \ No newline at end of file diff --git a/cuda_desktop.dockerfile b/cuda_desktop.dockerfile new file mode 100644 index 0000000..a50c615 --- /dev/null +++ b/cuda_desktop.dockerfile @@ -0,0 +1,8 @@ +ARG BASE_IMAGE + +########################################### +FROM ${BASE_IMAGE} AS base + +RUN apt-get update && apt-get install -y --no-install-recommends \ + ros-${ROS_DISTRO}-ros-desktop \ + && rm -rf /var/lib/apt/lists/* From 6a10ecda2f25b1ee9e988d2dfb20816848aa6c98 Mon Sep 17 00:00:00 2001 From: Marc Hanheide Date: Mon, 16 Feb 2026 14:06:07 +0000 Subject: [PATCH 19/54] Add outputs section for image digest in Docker build workflow --- .github/workflows/_build-image.yaml | 10 +++++++++- 1 file changed, 9 insertions(+), 1 deletion(-) diff --git a/.github/workflows/_build-image.yaml b/.github/workflows/_build-image.yaml index e8e85e1..ef7fb39 100644 --- a/.github/workflows/_build-image.yaml +++ b/.github/workflows/_build-image.yaml @@ -20,6 +20,10 @@ on: architectures: required: true type: string + outputs: + digest: + description: Image digest from the build + value: ${{ jobs.build.outputs.digest }} secrets: LCAS_REGISTRY_PUSHER: required: true @@ -29,6 +33,8 @@ on: jobs: build: runs-on: [lcas, qemu] + outputs: + digest: ${{ steps.build.outputs.digest }} steps: - uses: actions/setup-node@v4 - uses: actions/checkout@v3 @@ -57,7 +63,9 @@ jobs: type=semver,pattern={{major}}.{{minor}},prefix=${{ inputs.ros_dist }}- type=semver,pattern={{major}},prefix=${{ inputs.ros_dist }}- - - uses: docker/setup-buildx-action@v3 + - name: Build and push + id: build + uses: docker/setup-buildx-action@v3 - uses: docker/build-push-action@v6 with: From 8d666796a40b7e03b08209b3129da510edb2b83c Mon Sep 17 00:00:00 2001 From: Marc Hanheide Date: Mon, 16 Feb 2026 14:10:20 +0000 Subject: [PATCH 20/54] Reorder Docker build steps to ensure proper setup of buildx before building and pushing the image --- .github/workflows/_build-image.yaml | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/.github/workflows/_build-image.yaml b/.github/workflows/_build-image.yaml index ef7fb39..bad8c5d 100644 --- a/.github/workflows/_build-image.yaml +++ b/.github/workflows/_build-image.yaml @@ -63,11 +63,11 @@ jobs: type=semver,pattern={{major}}.{{minor}},prefix=${{ inputs.ros_dist }}- type=semver,pattern={{major}},prefix=${{ inputs.ros_dist }}- + - uses: docker/setup-buildx-action@v3 + - name: Build and push id: build - uses: docker/setup-buildx-action@v3 - - - uses: docker/build-push-action@v6 + uses: docker/build-push-action@v6 with: context: ./docker file: ./${{ inputs.dockerfile }} From 0591fb5674cc8668148bbe706fc54ffb63af6767 Mon Sep 17 00:00:00 2001 From: Marc Hanheide Date: Mon, 16 Feb 2026 14:16:26 +0000 Subject: [PATCH 21/54] Fix Dockerfile syntax for ros installation --- cuda_desktop.dockerfile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cuda_desktop.dockerfile b/cuda_desktop.dockerfile index a50c615..9e36983 100644 --- a/cuda_desktop.dockerfile +++ b/cuda_desktop.dockerfile @@ -4,5 +4,5 @@ ARG BASE_IMAGE FROM ${BASE_IMAGE} AS base RUN apt-get update && apt-get install -y --no-install-recommends \ - ros-${ROS_DISTRO}-ros-desktop \ + ros-${ROS_DISTRO}-desktop \ && rm -rf /var/lib/apt/lists/* From 7665cdee88d5002d9a2c3e68e0046f70a2045730 Mon Sep 17 00:00:00 2001 From: Josh Cooper Date: Mon, 16 Feb 2026 12:30:14 +0000 Subject: [PATCH 22/54] feat: add seperate display container this is the code I have been working on locally to create a display container that is **seperate** and **not ros enabled** the idea with it not being ros enabled and running on debian:trixie-slim is to keep the size of this display container down, and reduce complexity. --- display.dockerfile | 152 +++++++++++++++++++++++++++++++++++ docker/display-entrypoint.sh | 78 ++++++++++++++++++ 2 files changed, 230 insertions(+) create mode 100644 display.dockerfile create mode 100644 docker/display-entrypoint.sh diff --git a/display.dockerfile b/display.dockerfile new file mode 100644 index 0000000..6ec0eeb --- /dev/null +++ b/display.dockerfile @@ -0,0 +1,152 @@ +FROM debian:trixie-slim AS base + +ARG username=aoc + +ENV DEBIAN_FRONTEND=noninteractive \ + DISPLAY=:1 \ + VNC_PORT=5900 \ + NOVNC_PORT=5801 \ + RESOLUTION=1366x768x24 + +# Install timezone +RUN ln -fs /usr/share/zoneinfo/UTC /etc/localtime \ + && export DEBIAN_FRONTEND=noninteractive \ + && apt-get update \ + && apt-get install -y --no-install-recommends tzdata \ + && dpkg-reconfigure --frontend noninteractive tzdata \ + && rm -rf /var/lib/apt/lists/* + +# Install packages +RUN apt-get update && apt-get install -y --no-install-recommends \ + ca-certificates \ + curl \ + gnupg2 \ + lsb-release \ + git \ + nano \ + sudo \ + python3-setuptools \ + wget \ + libglvnd0 \ + libgl1 \ + libglx0 \ + libegl1 \ + libxext6 \ + libx11-6 \ + x11-utils \ + python3-minimal \ + python3-pip \ + python3-numpy \ + python3-venv \ + less \ + tmux \ + screen \ + unzip \ + x11-apps \ + && rm -rf /var/lib/apt/lists/* + +# Create non-root user +RUN useradd -m -s /bin/bash -G video,sudo ${username} && \ + echo "${username} ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers + +# Fix /tmp/.X11-unix permissions +RUN mkdir -p /tmp/.X11-unix && \ + chmod 1777 /tmp/.X11-unix + +# Install VirtualGL +ARG TARGETARCH +ENV DEBIAN_FRONTEND=noninteractive +RUN curl -L -O https://github.com/VirtualGL/virtualgl/releases/download/3.1.1/virtualgl_3.1.1_${TARGETARCH}.deb && \ + apt-get update && \ + apt-get -y install ./virtualgl_3.1.1_${TARGETARCH}.deb && \ + rm virtualgl_3.1.1_${TARGETARCH}.deb && rm -rf /var/lib/apt/lists/* +RUN curl -L -O https://github.com/TurboVNC/turbovnc/releases/download/3.1.1/turbovnc_3.1.1_${TARGETARCH}.deb && \ + apt-get update && \ + apt-get -y install ./turbovnc_3.1.1_${TARGETARCH}.deb && \ + rm turbovnc_3.1.1_${TARGETARCH}.deb && rm -rf /var/lib/apt/lists/* +RUN addgroup --system vglusers && adduser ${username} vglusers + + +# Install noVNC +ENV NOVNC_VERSION=1.4.0 +ENV WEBSOCKETIFY_VERSION=0.10.0 + +RUN mkdir -p /usr/local/novnc && \ +curl -sSL https://github.com/novnc/noVNC/archive/v${NOVNC_VERSION}.zip -o /tmp/novnc-install.zip && \ +unzip /tmp/novnc-install.zip -d /usr/local/novnc && \ +cp /usr/local/novnc/noVNC-${NOVNC_VERSION}/vnc.html /usr/local/novnc/noVNC-${NOVNC_VERSION}/index.html && \ +curl -sSL https://github.com/novnc/websockify/archive/v${WEBSOCKETIFY_VERSION}.zip -o /tmp/websockify-install.zip && \ +unzip /tmp/websockify-install.zip -d /usr/local/novnc && \ +ln -s /usr/local/novnc/websockify-${WEBSOCKETIFY_VERSION} /usr/local/novnc/noVNC-${NOVNC_VERSION}/utils/websockify && \ +rm -f /tmp/websockify-install.zip /tmp/novnc-install.zip && \ +sed -i -E 's/^python /python3 /' /usr/local/novnc/websockify-${WEBSOCKETIFY_VERSION}/run + +RUN cat < /usr/share/glvnd/egl_vendor.d/10_nvidia.json +{ + "file_format_version" : "1.0.0", + "ICD" : { + "library_path" : "libEGL_nvidia.so.0" + } +} +EOF + +FROM base AS xfce + +# Install XFCE4 +RUN apt-get update && \ + apt-get -y install \ + xfce4-session \ + xfce4-panel \ + xfdesktop4 \ + konsole \ + && rm -rf /var/lib/apt/lists/* +RUN apt-get purge -y xfce4-screensaver + +# thunar + +COPY docker/display-entrypoint.sh /entrypoint.sh +RUN chmod +x /entrypoint.sh +ENTRYPOINT [ "/entrypoint.sh" ] + +# Set default XFCE wallpaper -- doesnt work +# COPY aoc_wallpaper.jpg /usr/share/backgrounds/xfce/aoc_wallpaper.jpg +# RUN mkdir -p /home/${username}/.config/xfce4/xfconf/xfce-perchannel-xml && \ +# cat > /home/${username}/.config/xfce4/xfconf/xfce-perchannel-xml/xfce4-desktop.xml <<'EOF' +# +# +# +# +# +# +# +# +# +# +# +# +# +# +# +# EOF +RUN chown -R ${username}:${username} /home/${username}/.config + +# Allow other containers to share windows into this display +RUN echo 'xhost +local: 2>/dev/null' >> ~/.bashrc + +EXPOSE 5801 + +USER ${username} +ENV HOME=/home/${username} +WORKDIR ${HOME} +RUN mkdir -p ${HOME}/.local/bin + +ENV DISPLAY=:1 +ENV TVNC_VGL=1 +ENV VGL_ISACTIVE=1 +ENV VGL_FPS=25 +ENV VGL_COMPRESS=0 +ENV VGL_DISPLAY=egl +ENV VGL_WM=1 +ENV VGL_PROBEGLX=0 +ENV LD_PRELOAD=/usr/lib/libdlfaker.so:/usr/lib/libvglfaker.so +ENV SHELL=/bin/bash \ No newline at end of file diff --git a/docker/display-entrypoint.sh b/docker/display-entrypoint.sh new file mode 100644 index 0000000..1c35c35 --- /dev/null +++ b/docker/display-entrypoint.sh @@ -0,0 +1,78 @@ +#!/bin/bash + +echo +echo "****************************************************************************************************************************************" +echo "AOC Display container starting..." +echo "****************************************************************************************************************************************" + + +echo "starting turbovnc" +sudo rm -rf /tmp/.X1-lock /tmp/.X11-unix/X1 > /dev/null 2>&1 +screen -dmS turbovnc bash -c 'VGL_DISPLAY=egl VGL_FPS=30 /opt/TurboVNC/bin/vncserver :1 -depth 24 -noxstartup -securitytypes TLSNone,X509None,None 2>&1 | tee /tmp/vnc.log; read -p "Press any key to continue..."' +# wait for VNC to be running + +echo "waiting for display to be up" +while ! xdpyinfo -display :1 2> /dev/null > /dev/null; do + sleep .1 +done +echo "display is up" + +echo "starting xfce4" +screen -dmS xfce4 bash -c 'DISPLAY=:1 /usr/bin/xfce4-session 2>&1 | tee /tmp/xfce4.log' +while [ -z "$DBUS_SESSION_BUS_ADDRESS" ]; do + if pgrep xfce4-session > /dev/null; then + XFCE_PID=$(pgrep xfce4-session) + export DBUS_SESSION_BUS_ADDRESS=$(grep -z DBUS_SESSION_BUS_ADDRESS /proc/$XFCE_PID/environ|cut -d= -f2-|tr -d '\0') + fi + sleep .1 +done +echo "xfce4 up" + +echo "starting novnc ${NOVNC_VERSION}" +screen -dmS novnc bash -c '/usr/local/novnc/noVNC-${NOVNC_VERSION}/utils/novnc_proxy --vnc localhost:5901 --listen 5801 2>&1 | tee /tmp/novnc.log' + +DISPLAY=:1 xhost +local: 2>/dev/null +echo "xhost +local: applied to :1" + +# ensure wallpaper/panels are applied; start xfdesktop if missing +( + sleep 8 + export DISPLAY=:1 + export DBUS_SESSION_BUS_ADDRESS="$DBUS_SESSION_BUS_ADDRESS" + + # start xfdesktop if not running so it can apply the wallpaper + if ! pgrep -u "$USER" xfdesktop > /dev/null 2>&1; then + xfdesktop --daemon > /dev/null 2>&1 || true + fi + + WALLPAPER="/usr/share/backgrounds/xfce/aoc_wallpaper.jpg" + + # apply wallpaper for monitor0 (add others if needed) + xfconf-query -c xfce4-desktop -np /backdrop/screen0/monitor0/image-path -t string -s "$WALLPAPER" > /dev/null 2>&1 + xfconf-query -c xfce4-desktop -np /backdrop/screen0/monitor0/last-image -t string -s "$WALLPAPER" > /dev/null 2>&1 + xfconf-query -c xfce4-desktop -np /backdrop/screen0/monitor0/workspace0/last-image -t string -s "$WALLPAPER" > /dev/null 2>&1 + xfconf-query -c xfce4-desktop -np /backdrop/screen0/monitor0/image-show -t bool -s true > /dev/null 2>&1 + + # remove secondary panel if present + xfconf-query -c xfce4-panel -p /panels/panel-2 -r > /dev/null 2>&1 || true + xfce4-panel --reload > /dev/null 2>&1 || true + + xfdesktop --reload > /dev/null 2>&1 || true +) & + +echo +echo "****************************************************************************************************************************************" +echo "Desktop ready. Open your browser at http://localhost:5801/vnc.html?autoconnect=true or another hostname and port you may have forwarded." +echo "****************************************************************************************************************************************" +echo + +echo >&2 + +# This script can either be a wrapper around arbitrary command lines, +# or it will simply exec bash if no arguments were given +if [[ $# -eq 0 ]]; then + exec "/bin/bash" +else + exec "$@" +fi + From 940098f770f1189bea24a6800b0324e6ee55b6dc Mon Sep 17 00:00:00 2001 From: Josh Cooper Date: Tue, 17 Feb 2026 14:52:02 +0000 Subject: [PATCH 23/54] ci: rename the container from `display` to `vnc` add CI building --- .github/workflows/docker-build-and-push.yaml | 10 ++++++++++ docker/{display-entrypoint.sh => vnc-entrypoint.sh} | 4 ++-- display.dockerfile => vnc.dockerfile | 8 +++++--- 3 files changed, 17 insertions(+), 5 deletions(-) rename docker/{display-entrypoint.sh => vnc-entrypoint.sh} (94%) rename display.dockerfile => vnc.dockerfile (96%) diff --git a/.github/workflows/docker-build-and-push.yaml b/.github/workflows/docker-build-and-push.yaml index f2c6942..2173e3a 100644 --- a/.github/workflows/docker-build-and-push.yaml +++ b/.github/workflows/docker-build-and-push.yaml @@ -10,6 +10,16 @@ on: jobs: + # ── VNC Container Building ──────────────────────-──────────────────────── + vnc: + uses: ./.github/workflows/_build-image.yaml + with: + base_image: debian:trixie-slim + push_image: vnc + dockerfile: vnc.dockerfile + architectures: linux/amd64,linux/arm64 + secrets: inherit + # ── Level 0: no dependencies ────────────────────────────────────────────── ros-humble: diff --git a/docker/display-entrypoint.sh b/docker/vnc-entrypoint.sh similarity index 94% rename from docker/display-entrypoint.sh rename to docker/vnc-entrypoint.sh index 1c35c35..76d9a93 100644 --- a/docker/display-entrypoint.sh +++ b/docker/vnc-entrypoint.sh @@ -2,7 +2,7 @@ echo echo "****************************************************************************************************************************************" -echo "AOC Display container starting..." +echo "AOC VNC container starting..." echo "****************************************************************************************************************************************" @@ -62,7 +62,7 @@ echo "xhost +local: applied to :1" echo echo "****************************************************************************************************************************************" -echo "Desktop ready. Open your browser at http://localhost:5801/vnc.html?autoconnect=true or another hostname and port you may have forwarded." +echo "VNC Desktop ready. Open your browser at http://localhost:5801/vnc.html?autoconnect=true or another hostname and port you may have forwarded." echo "****************************************************************************************************************************************" echo diff --git a/display.dockerfile b/vnc.dockerfile similarity index 96% rename from display.dockerfile rename to vnc.dockerfile index 6ec0eeb..7cee0fe 100644 --- a/display.dockerfile +++ b/vnc.dockerfile @@ -1,6 +1,9 @@ -FROM debian:trixie-slim AS base +ARG BASE_IMAGE=debian:trixie-slim +FROM ${BASE_IMAGE} AS base +ARG BASE_IMAGE ARG username=aoc +ENV BASE_IMAGE=${BASE_IMAGE} ENV DEBIAN_FRONTEND=noninteractive \ DISPLAY=:1 \ @@ -22,7 +25,6 @@ RUN apt-get update && apt-get install -y --no-install-recommends \ curl \ gnupg2 \ lsb-release \ - git \ nano \ sudo \ python3-setuptools \ @@ -104,7 +106,7 @@ RUN apt-get purge -y xfce4-screensaver # thunar -COPY docker/display-entrypoint.sh /entrypoint.sh +COPY docker/vnc-entrypoint.sh /entrypoint.sh RUN chmod +x /entrypoint.sh ENTRYPOINT [ "/entrypoint.sh" ] From 2f6514f9ca317ab994c5b030b81f9530217af53d Mon Sep 17 00:00:00 2001 From: Josh Cooper Date: Tue, 17 Feb 2026 14:54:13 +0000 Subject: [PATCH 24/54] ci: disable requirement for ros distro, allowing for non ros builds --- .github/workflows/_build-image.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/_build-image.yaml b/.github/workflows/_build-image.yaml index ca32072..1241d02 100644 --- a/.github/workflows/_build-image.yaml +++ b/.github/workflows/_build-image.yaml @@ -12,7 +12,7 @@ on: required: true type: string ros_distro: - required: true + required: false type: string dockerfile: required: true From faa902168c3f3f53c0547852746b9626e199b5d0 Mon Sep 17 00:00:00 2001 From: Josh Cooper Date: Wed, 25 Feb 2026 12:44:20 +0000 Subject: [PATCH 25/54] fix: install turbovnc this time and fix ci --- .github/workflows/docker-build-and-push.yaml | 16 +++---- docker/vnc-entrypoint.sh | 43 +++++++++-------- vnc.dockerfile | 50 +++++++------------- 3 files changed, 48 insertions(+), 61 deletions(-) diff --git a/.github/workflows/docker-build-and-push.yaml b/.github/workflows/docker-build-and-push.yaml index 2173e3a..2219392 100644 --- a/.github/workflows/docker-build-and-push.yaml +++ b/.github/workflows/docker-build-and-push.yaml @@ -11,14 +11,14 @@ on: jobs: # ── VNC Container Building ──────────────────────-──────────────────────── - vnc: - uses: ./.github/workflows/_build-image.yaml - with: - base_image: debian:trixie-slim - push_image: vnc - dockerfile: vnc.dockerfile - architectures: linux/amd64,linux/arm64 - secrets: inherit + # vnc: + # uses: ./.github/workflows/_build-image.yaml + # with: + # base_image: debian:trixie-slim + # push_image: vnc + # dockerfile: vnc.dockerfile + # architectures: linux/amd64,linux/arm64 + # secrets: inherit # ── Level 0: no dependencies ────────────────────────────────────────────── diff --git a/docker/vnc-entrypoint.sh b/docker/vnc-entrypoint.sh index 76d9a93..e6016f4 100644 --- a/docker/vnc-entrypoint.sh +++ b/docker/vnc-entrypoint.sh @@ -8,7 +8,8 @@ echo "************************************************************************** echo "starting turbovnc" sudo rm -rf /tmp/.X1-lock /tmp/.X11-unix/X1 > /dev/null 2>&1 -screen -dmS turbovnc bash -c 'VGL_DISPLAY=egl VGL_FPS=30 /opt/TurboVNC/bin/vncserver :1 -depth 24 -noxstartup -securitytypes TLSNone,X509None,None 2>&1 | tee /tmp/vnc.log; read -p "Press any key to continue..."' +# screen -dmS turbovnc bash -c 'VGL_DISPLAY=egl VGL_FPS=30 /opt/TurboVNC/bin/vncserver :1 -depth 24 -noxstartup -securitytypes TLSNone,X509None,None 2>&1 | tee /tmp/vnc.log; read -p "Press any key to continue..."' +screen -dmS turbovnc bash -c '/opt/TurboVNC/bin/vncserver :1 -depth 24 -noxstartup -securitytypes TLSNone,X509None,None 2>&1 | tee /tmp/vnc.log; read -p "Press any key to continue..."' # wait for VNC to be running echo "waiting for display to be up" @@ -34,31 +35,31 @@ screen -dmS novnc bash -c '/usr/local/novnc/noVNC-${NOVNC_VERSION}/utils/novnc_p DISPLAY=:1 xhost +local: 2>/dev/null echo "xhost +local: applied to :1" -# ensure wallpaper/panels are applied; start xfdesktop if missing -( - sleep 8 - export DISPLAY=:1 - export DBUS_SESSION_BUS_ADDRESS="$DBUS_SESSION_BUS_ADDRESS" +# # ensure wallpaper/panels are applied; start xfdesktop if missing +# ( +# sleep 8 +# export DISPLAY=:1 +# export DBUS_SESSION_BUS_ADDRESS="$DBUS_SESSION_BUS_ADDRESS" - # start xfdesktop if not running so it can apply the wallpaper - if ! pgrep -u "$USER" xfdesktop > /dev/null 2>&1; then - xfdesktop --daemon > /dev/null 2>&1 || true - fi +# # start xfdesktop if not running so it can apply the wallpaper +# if ! pgrep -u "$USER" xfdesktop > /dev/null 2>&1; then +# xfdesktop --daemon > /dev/null 2>&1 || true +# fi - WALLPAPER="/usr/share/backgrounds/xfce/aoc_wallpaper.jpg" +# WALLPAPER="/usr/share/backgrounds/xfce/aoc_wallpaper.jpg" - # apply wallpaper for monitor0 (add others if needed) - xfconf-query -c xfce4-desktop -np /backdrop/screen0/monitor0/image-path -t string -s "$WALLPAPER" > /dev/null 2>&1 - xfconf-query -c xfce4-desktop -np /backdrop/screen0/monitor0/last-image -t string -s "$WALLPAPER" > /dev/null 2>&1 - xfconf-query -c xfce4-desktop -np /backdrop/screen0/monitor0/workspace0/last-image -t string -s "$WALLPAPER" > /dev/null 2>&1 - xfconf-query -c xfce4-desktop -np /backdrop/screen0/monitor0/image-show -t bool -s true > /dev/null 2>&1 +# # apply wallpaper for monitor0 (add others if needed) +# xfconf-query -c xfce4-desktop -np /backdrop/screen0/monitor0/image-path -t string -s "$WALLPAPER" > /dev/null 2>&1 +# xfconf-query -c xfce4-desktop -np /backdrop/screen0/monitor0/last-image -t string -s "$WALLPAPER" > /dev/null 2>&1 +# xfconf-query -c xfce4-desktop -np /backdrop/screen0/monitor0/workspace0/last-image -t string -s "$WALLPAPER" > /dev/null 2>&1 +# xfconf-query -c xfce4-desktop -np /backdrop/screen0/monitor0/image-show -t bool -s true > /dev/null 2>&1 - # remove secondary panel if present - xfconf-query -c xfce4-panel -p /panels/panel-2 -r > /dev/null 2>&1 || true - xfce4-panel --reload > /dev/null 2>&1 || true +# # remove secondary panel if present +# xfconf-query -c xfce4-panel -p /panels/panel-2 -r > /dev/null 2>&1 || true +# xfce4-panel --reload > /dev/null 2>&1 || true - xfdesktop --reload > /dev/null 2>&1 || true -) & +# xfdesktop --reload > /dev/null 2>&1 || true +# ) & echo echo "****************************************************************************************************************************************" diff --git a/vnc.dockerfile b/vnc.dockerfile index 7cee0fe..51ccb29 100644 --- a/vnc.dockerfile +++ b/vnc.dockerfile @@ -2,7 +2,7 @@ ARG BASE_IMAGE=debian:trixie-slim FROM ${BASE_IMAGE} AS base ARG BASE_IMAGE -ARG username=aoc +ARG username=lcas ENV BASE_IMAGE=${BASE_IMAGE} ENV DEBIAN_FRONTEND=noninteractive \ @@ -56,18 +56,19 @@ RUN mkdir -p /tmp/.X11-unix && \ chmod 1777 /tmp/.X11-unix # Install VirtualGL -ARG TARGETARCH -ENV DEBIAN_FRONTEND=noninteractive -RUN curl -L -O https://github.com/VirtualGL/virtualgl/releases/download/3.1.1/virtualgl_3.1.1_${TARGETARCH}.deb && \ - apt-get update && \ - apt-get -y install ./virtualgl_3.1.1_${TARGETARCH}.deb && \ - rm virtualgl_3.1.1_${TARGETARCH}.deb && rm -rf /var/lib/apt/lists/* -RUN curl -L -O https://github.com/TurboVNC/turbovnc/releases/download/3.1.1/turbovnc_3.1.1_${TARGETARCH}.deb && \ - apt-get update && \ - apt-get -y install ./turbovnc_3.1.1_${TARGETARCH}.deb && \ - rm turbovnc_3.1.1_${TARGETARCH}.deb && rm -rf /var/lib/apt/lists/* -RUN addgroup --system vglusers && adduser ${username} vglusers +RUN wget -q -O- https://packagecloud.io/dcommander/virtualgl/gpgkey | gpg --dearmor >/etc/apt/trusted.gpg.d/VirtualGL.gpg && \ + echo "deb [signed-by=/etc/apt/trusted.gpg.d/VirtualGL.gpg] https://packagecloud.io/dcommander/virtualgl/any/ any main" >> /etc/apt/sources.list.d/virtualgl.list && \ + apt update && apt install -y virtualgl libgl1 && rm -rf /var/lib/apt/lists/* +# RUN curl -L -O https://github.com/TurboVNC/turbovnc/releases/download/3.1.1/turbovnc_3.1.1_${TARGETARCH}.deb && \ +# apt-get update && \ +# apt-get -y install ./turbovnc_3.1.1_${TARGETARCH}.deb && \ +# rm turbovnc_3.1.1_${TARGETARCH}.deb && rm -rf /var/lib/apt/lists/* + +# Install TurboVNC +RUN wget -q -O- https://packagecloud.io/dcommander/turbovnc/gpgkey | gpg --dearmor >/etc/apt/trusted.gpg.d/TurboVNC.gpg && \ + echo "deb [signed-by=/etc/apt/trusted.gpg.d/TurboVNC.gpg] https://packagecloud.io/dcommander/turbovnc/any/ any main" >> /etc/apt/sources.list.d/TurboVNC.list && \ + apt update && apt install -y turbovnc && rm -rf /var/lib/apt/lists/* # Install noVNC ENV NOVNC_VERSION=1.4.0 @@ -112,28 +113,13 @@ ENTRYPOINT [ "/entrypoint.sh" ] # Set default XFCE wallpaper -- doesnt work # COPY aoc_wallpaper.jpg /usr/share/backgrounds/xfce/aoc_wallpaper.jpg -# RUN mkdir -p /home/${username}/.config/xfce4/xfconf/xfce-perchannel-xml && \ -# cat > /home/${username}/.config/xfce4/xfconf/xfce-perchannel-xml/xfce4-desktop.xml <<'EOF' -# -# -# -# -# -# -# -# -# -# -# -# -# -# -# -# EOF -RUN chown -R ${username}:${username} /home/${username}/.config # Allow other containers to share windows into this display -RUN echo 'xhost +local: 2>/dev/null' >> ~/.bashrc +RUN echo 'xhost +local: 2>/dev/null' >> ~/.bashrc && \ + echo "if [ -f /etc/bash.bashrc ]; then source /etc/bash.bashrc; fi" >> /root/.bashrc && \ + echo "alias t='tmux'" >> /etc/bash.bashrc && \ + echo "alias cls='clear'" >> /etc/bash.bashrc && \ + echo 'echo -e "$(printf "%80s" | tr " " "-") \nYou are inside the VNC container,\n - You do not have access to ROS in this terminal\n - You may docker exec into other containers.\n$(printf "%80s" | tr " " "-")\n"' >> /etc/bash.bashrc EXPOSE 5801 From be348cdd8da49593aad894681b8d4a348c7b58e9 Mon Sep 17 00:00:00 2001 From: Josh Cooper Date: Wed, 25 Feb 2026 16:17:19 +0000 Subject: [PATCH 26/54] feat: cleaned up the vnc container, added docker cli --- vnc.dockerfile | 52 +++++++++++++++++++++++++++----------------------- 1 file changed, 28 insertions(+), 24 deletions(-) diff --git a/vnc.dockerfile b/vnc.dockerfile index 51ccb29..2a0a229 100644 --- a/vnc.dockerfile +++ b/vnc.dockerfile @@ -25,9 +25,7 @@ RUN apt-get update && apt-get install -y --no-install-recommends \ curl \ gnupg2 \ lsb-release \ - nano \ sudo \ - python3-setuptools \ wget \ libglvnd0 \ libgl1 \ @@ -36,12 +34,7 @@ RUN apt-get update && apt-get install -y --no-install-recommends \ libxext6 \ libx11-6 \ x11-utils \ - python3-minimal \ - python3-pip \ - python3-numpy \ - python3-venv \ less \ - tmux \ screen \ unzip \ x11-apps \ @@ -60,10 +53,14 @@ RUN wget -q -O- https://packagecloud.io/dcommander/virtualgl/gpgkey | gpg --dear echo "deb [signed-by=/etc/apt/trusted.gpg.d/VirtualGL.gpg] https://packagecloud.io/dcommander/virtualgl/any/ any main" >> /etc/apt/sources.list.d/virtualgl.list && \ apt update && apt install -y virtualgl libgl1 && rm -rf /var/lib/apt/lists/* -# RUN curl -L -O https://github.com/TurboVNC/turbovnc/releases/download/3.1.1/turbovnc_3.1.1_${TARGETARCH}.deb && \ -# apt-get update && \ -# apt-get -y install ./turbovnc_3.1.1_${TARGETARCH}.deb && \ -# rm turbovnc_3.1.1_${TARGETARCH}.deb && rm -rf /var/lib/apt/lists/* +RUN cat < /usr/share/glvnd/egl_vendor.d/10_nvidia.json +{ + "file_format_version" : "1.0.0", + "ICD" : { + "library_path" : "libEGL_nvidia.so.0" + } +} +EOF # Install TurboVNC RUN wget -q -O- https://packagecloud.io/dcommander/turbovnc/gpgkey | gpg --dearmor >/etc/apt/trusted.gpg.d/TurboVNC.gpg && \ @@ -73,7 +70,6 @@ RUN wget -q -O- https://packagecloud.io/dcommander/turbovnc/gpgkey | gpg --dearm # Install noVNC ENV NOVNC_VERSION=1.4.0 ENV WEBSOCKETIFY_VERSION=0.10.0 - RUN mkdir -p /usr/local/novnc && \ curl -sSL https://github.com/novnc/noVNC/archive/v${NOVNC_VERSION}.zip -o /tmp/novnc-install.zip && \ unzip /tmp/novnc-install.zip -d /usr/local/novnc && \ @@ -84,15 +80,6 @@ ln -s /usr/local/novnc/websockify-${WEBSOCKETIFY_VERSION} /usr/local/novnc/noVNC rm -f /tmp/websockify-install.zip /tmp/novnc-install.zip && \ sed -i -E 's/^python /python3 /' /usr/local/novnc/websockify-${WEBSOCKETIFY_VERSION}/run -RUN cat < /usr/share/glvnd/egl_vendor.d/10_nvidia.json -{ - "file_format_version" : "1.0.0", - "ICD" : { - "library_path" : "libEGL_nvidia.so.0" - } -} -EOF - FROM base AS xfce # Install XFCE4 @@ -105,8 +92,6 @@ RUN apt-get update && \ && rm -rf /var/lib/apt/lists/* RUN apt-get purge -y xfce4-screensaver -# thunar - COPY docker/vnc-entrypoint.sh /entrypoint.sh RUN chmod +x /entrypoint.sh ENTRYPOINT [ "/entrypoint.sh" ] @@ -137,4 +122,23 @@ ENV VGL_DISPLAY=egl ENV VGL_WM=1 ENV VGL_PROBEGLX=0 ENV LD_PRELOAD=/usr/lib/libdlfaker.so:/usr/lib/libvglfaker.so -ENV SHELL=/bin/bash \ No newline at end of file +ENV SHELL=/bin/bash + +FROM xfce AS docker-tools + +ARG DOCKER_GID=984 + +# Install Docker (for docker exec etc) +USER root +RUN apt-get update && \ + apt-get install -y ca-certificates curl && \ + install -m 0755 -d /etc/apt/keyrings && \ + curl -fsSL https://download.docker.com/linux/debian/gpg -o /etc/apt/keyrings/docker.asc && \ + echo "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/docker.asc] https://download.docker.com/linux/debian $(. /etc/os-release && echo $VERSION_CODENAME) stable" > /etc/apt/sources.list.d/docker.list && \ + apt-get update && \ + apt-get install -y docker-ce-cli && \ + rm -rf /var/lib/apt/lists/* && \ + groupadd -g $DOCKER_GID docker && \ + usermod -aG docker ${username} + +USER ${username} From cafb62e1418725f1adcf0562537c29d6aa3bedf1 Mon Sep 17 00:00:00 2001 From: Josh Cooper Date: Wed, 25 Feb 2026 17:59:44 +0000 Subject: [PATCH 27/54] chore: run linter --- vnc.dockerfile | 17 ++++++++--------- 1 file changed, 8 insertions(+), 9 deletions(-) diff --git a/vnc.dockerfile b/vnc.dockerfile index 2a0a229..c509cd1 100644 --- a/vnc.dockerfile +++ b/vnc.dockerfile @@ -71,14 +71,14 @@ RUN wget -q -O- https://packagecloud.io/dcommander/turbovnc/gpgkey | gpg --dearm ENV NOVNC_VERSION=1.4.0 ENV WEBSOCKETIFY_VERSION=0.10.0 RUN mkdir -p /usr/local/novnc && \ -curl -sSL https://github.com/novnc/noVNC/archive/v${NOVNC_VERSION}.zip -o /tmp/novnc-install.zip && \ -unzip /tmp/novnc-install.zip -d /usr/local/novnc && \ -cp /usr/local/novnc/noVNC-${NOVNC_VERSION}/vnc.html /usr/local/novnc/noVNC-${NOVNC_VERSION}/index.html && \ -curl -sSL https://github.com/novnc/websockify/archive/v${WEBSOCKETIFY_VERSION}.zip -o /tmp/websockify-install.zip && \ -unzip /tmp/websockify-install.zip -d /usr/local/novnc && \ -ln -s /usr/local/novnc/websockify-${WEBSOCKETIFY_VERSION} /usr/local/novnc/noVNC-${NOVNC_VERSION}/utils/websockify && \ -rm -f /tmp/websockify-install.zip /tmp/novnc-install.zip && \ -sed -i -E 's/^python /python3 /' /usr/local/novnc/websockify-${WEBSOCKETIFY_VERSION}/run + curl -sSL https://github.com/novnc/noVNC/archive/v${NOVNC_VERSION}.zip -o /tmp/novnc-install.zip && \ + unzip /tmp/novnc-install.zip -d /usr/local/novnc && \ + cp /usr/local/novnc/noVNC-${NOVNC_VERSION}/vnc.html /usr/local/novnc/noVNC-${NOVNC_VERSION}/index.html && \ + curl -sSL https://github.com/novnc/websockify/archive/v${WEBSOCKETIFY_VERSION}.zip -o /tmp/websockify-install.zip && \ + unzip /tmp/websockify-install.zip -d /usr/local/novnc && \ + ln -s /usr/local/novnc/websockify-${WEBSOCKETIFY_VERSION} /usr/local/novnc/noVNC-${NOVNC_VERSION}/utils/websockify && \ + rm -f /tmp/websockify-install.zip /tmp/novnc-install.zip && \ + sed -i -E 's/^python /python3 /' /usr/local/novnc/websockify-${WEBSOCKETIFY_VERSION}/run FROM base AS xfce @@ -102,7 +102,6 @@ ENTRYPOINT [ "/entrypoint.sh" ] # Allow other containers to share windows into this display RUN echo 'xhost +local: 2>/dev/null' >> ~/.bashrc && \ echo "if [ -f /etc/bash.bashrc ]; then source /etc/bash.bashrc; fi" >> /root/.bashrc && \ - echo "alias t='tmux'" >> /etc/bash.bashrc && \ echo "alias cls='clear'" >> /etc/bash.bashrc && \ echo 'echo -e "$(printf "%80s" | tr " " "-") \nYou are inside the VNC container,\n - You do not have access to ROS in this terminal\n - You may docker exec into other containers.\n$(printf "%80s" | tr " " "-")\n"' >> /etc/bash.bashrc From 2b3873c8164f25db1002ae199f7a05f68df8a465 Mon Sep 17 00:00:00 2001 From: Josh Cooper Date: Mon, 2 Mar 2026 12:59:43 +0000 Subject: [PATCH 28/54] fix: restore wallpaper functionality --- docker/vnc-entrypoint.sh | 45 +++++++++++++------------------------ docker/wallpapers/aoc.jpg | Bin 0 -> 58505 bytes docker/wallpapers/lcas.jpg | Bin 0 -> 70827 bytes docker/wallpapers/uol.jpg | Bin 0 -> 244560 bytes vnc.dockerfile | 4 ++-- 5 files changed, 18 insertions(+), 31 deletions(-) create mode 100644 docker/wallpapers/aoc.jpg create mode 100644 docker/wallpapers/lcas.jpg create mode 100644 docker/wallpapers/uol.jpg diff --git a/docker/vnc-entrypoint.sh b/docker/vnc-entrypoint.sh index e6016f4..4c6cebb 100644 --- a/docker/vnc-entrypoint.sh +++ b/docker/vnc-entrypoint.sh @@ -5,12 +5,8 @@ echo "************************************************************************** echo "AOC VNC container starting..." echo "****************************************************************************************************************************************" - -echo "starting turbovnc" sudo rm -rf /tmp/.X1-lock /tmp/.X11-unix/X1 > /dev/null 2>&1 -# screen -dmS turbovnc bash -c 'VGL_DISPLAY=egl VGL_FPS=30 /opt/TurboVNC/bin/vncserver :1 -depth 24 -noxstartup -securitytypes TLSNone,X509None,None 2>&1 | tee /tmp/vnc.log; read -p "Press any key to continue..."' screen -dmS turbovnc bash -c '/opt/TurboVNC/bin/vncserver :1 -depth 24 -noxstartup -securitytypes TLSNone,X509None,None 2>&1 | tee /tmp/vnc.log; read -p "Press any key to continue..."' -# wait for VNC to be running echo "waiting for display to be up" while ! xdpyinfo -display :1 2> /dev/null > /dev/null; do @@ -35,31 +31,22 @@ screen -dmS novnc bash -c '/usr/local/novnc/noVNC-${NOVNC_VERSION}/utils/novnc_p DISPLAY=:1 xhost +local: 2>/dev/null echo "xhost +local: applied to :1" -# # ensure wallpaper/panels are applied; start xfdesktop if missing -# ( -# sleep 8 -# export DISPLAY=:1 -# export DBUS_SESSION_BUS_ADDRESS="$DBUS_SESSION_BUS_ADDRESS" - -# # start xfdesktop if not running so it can apply the wallpaper -# if ! pgrep -u "$USER" xfdesktop > /dev/null 2>&1; then -# xfdesktop --daemon > /dev/null 2>&1 || true -# fi - -# WALLPAPER="/usr/share/backgrounds/xfce/aoc_wallpaper.jpg" - -# # apply wallpaper for monitor0 (add others if needed) -# xfconf-query -c xfce4-desktop -np /backdrop/screen0/monitor0/image-path -t string -s "$WALLPAPER" > /dev/null 2>&1 -# xfconf-query -c xfce4-desktop -np /backdrop/screen0/monitor0/last-image -t string -s "$WALLPAPER" > /dev/null 2>&1 -# xfconf-query -c xfce4-desktop -np /backdrop/screen0/monitor0/workspace0/last-image -t string -s "$WALLPAPER" > /dev/null 2>&1 -# xfconf-query -c xfce4-desktop -np /backdrop/screen0/monitor0/image-show -t bool -s true > /dev/null 2>&1 - -# # remove secondary panel if present -# xfconf-query -c xfce4-panel -p /panels/panel-2 -r > /dev/null 2>&1 || true -# xfce4-panel --reload > /dev/null 2>&1 || true - -# xfdesktop --reload > /dev/null 2>&1 || true -# ) & +# set the wallpaper +( + export DISPLAY=:1 + CURRENT_USER="$(id -un)" + VNC_WALLPAPER=${VNC_WALLPAPER:-lcas} + WALLPAPER="/usr/share/backgrounds/xfce/${VNC_WALLPAPER}.jpg" + base="/backdrop/screen0/monitorVNC-0/workspace0" + + xfconf-query -c xfce4-desktop -p "${base}/image-show" -n -t bool -s true + xfconf-query -c xfce4-desktop -p "${base}/image-style" -n -t int -s 5 + xfconf-query -c xfce4-desktop -p "${base}/image-path" -n -t string -s "$WALLPAPER" + xfconf-query -c xfce4-desktop -p "${base}/last-image" -n -t string -s "$WALLPAPER" + xfconf-query -c xfce4-desktop -p "${base}/last-single-image" -n -t string -s "$WALLPAPER" + + # xfdesktop --reload +) & echo echo "****************************************************************************************************************************************" diff --git a/docker/wallpapers/aoc.jpg b/docker/wallpapers/aoc.jpg new file mode 100644 index 0000000000000000000000000000000000000000..49abcc1c11dccdf7da8e29df9d9c85c247a22ca4 GIT binary patch literal 58505 zcmeFa2UwHMwl*9DMG?UQQUsy`f>deJiKu{pfb>pYL_k15n)F0Lsz9Vmjr1l&dM60d zL8MFXz4s7Oz6alZ_TFdz-}$cn{nvl4|2ql8?~?@d_Os2Ozezum{H-?7&&N~$QJehrN7DZ&lZl-)Bd&wQo;!v&{apc(I>3WEcS|B3pia?!y}9K8#oox^$LIjQlkz$xYCy zOC+S1NQhrSVBk}nCi$6uHUnNrPLYzGK0|)?9L0H{Lg_`&DH2lBQ)Hy4PoLa|#2a`Y zM0V-);^4f^B`k7R zR7_mr!9zKDg-41?np)aAx_bHsX3xwmET3ChJ2|_&a&>d}@O|s&9}pN691$569TWQ@ zEt*% zDfs3r&HeC{!Y}7og*3KkpE~wXTxAoUX5T&;+Ru^wdjs?Ne>Jkd59}Y~8U;N7o%)$b zPXSUQB?Tl!2Bg#Er%w|3S@NIh?B5c_&vgDIUHE$<0-cZmeE^Nm06!Pbk)Qkfd;fNU zI1WrpH{uA0l9U9POr)1U5D;f-@bCN!e+R_xza{)@&v0VTZwde667Kyi;a^2n5gn#4VUtPk#@$j!M;oo@pSC{Z_Jp8Lm_%|N@)g}DfKm4mp_%|N@)g}BJ5C7^C 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z0z5UM-Dgv8jZ-o0l56KFLr8DJJNJEDYuAhRIEQLML1k!yqKOJAiTtIivg6r zUw3!&QYV+&bxyP7 z<%CfE-S}6_9$`#tDu;^9r5pl9r|+rp3?TnZePs*5ujYJ-R-YMyC+$B352_k0nnTA| zidRT0(Q9)cwBR=wc%Hw@Cg7#bh&{HG%j6q(EPSPY{A*Ob8SC$6Sn>uJ*njEcov=fy z{z7C3Ap;}toAeuwCfAgsw)bD}KX@nke;)OxPUPs@OvfJ${P%m+i+!!9TE!rR zHr5Bkq$o~Buz-AS??abK&6V@7R)@cuC~$_8Rn$OBM~xi#-kZAmaqNyHle&BLN^~;y^Ta#s6Y*8*;TpQ@m`^R{}2Tg;0WcuQjil z=L_X}bkP^H1Cuw6U7q~eYGJD0Yl~sRze%D+E$aEh$tj073WnGw2X$!fWWV=mX4bN6 zf4_DI+xF>4Rdlt3(rcW}sprI-A9@x9VF9=O`w=ruHxSLYWRFVT8@&IOE?DQ~UxMX6 z0A2y!m>Mj63x5LQsK`iI83N))5CvP?_8pfhkK1-PlC?*~S)8t>GMFB|u**Zy74zXl zWd3ZvuuxaL2_vk{R<|PViJ-rB{X#n8A?GQPwJ8e1Gu&?1YPC@YJD&N}AN*sC1wmiD zKDe|mTxGuB(7J+Uox6@#4lS_J6?Hr&qslH*CKCIW9YwzMn%^Ki6FG Date: Tue, 10 Mar 2026 10:20:56 +0000 Subject: [PATCH 30/54] chore: update readme to force build --- README.md | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/README.md b/README.md index 1e97aee..eea8cfa 100644 --- a/README.md +++ b/README.md @@ -6,4 +6,5 @@ A repository of verstile ROS-enabled Docker containers, orginally developed as a | ------------------------------------- | --------------------- | --------------------------------------------------------------------------------------------------------------------------------- | | `lcas.lincoln.ac.uk/ros` | { `humble`, `jazzy` } | Base ROS Container, the minimal environment you need for ROS | | `lcas.lincoln.ac.uk/ros_cuda` | { `humble`, `jazzy` } | ROS + Nvidia. When you need to use a GPU in your ROS environment for either better quality simulation or AI workloads. | -| `lcas.lincoln.ac.uk/ros_cuda_desktop` | { `humble`, `jazzy` } | ROS + Nvidia + Packages. Installs the `ros-{distro}-desktop` varient so there is the full ROS stack available. | \ No newline at end of file +| `lcas.lincoln.ac.uk/ros_cuda_desktop` | { `humble`, `jazzy` } | ROS + Nvidia + Packages. Installs the `ros-{distro}-desktop` varient so there is the full ROS stack available. | +| `lcas.lincoln.ac.uk/vnc` | { `latest` } | X11 destination accessible over a website using NoVNC. | \ No newline at end of file From bc94c5c375d0580237ea6d598bc12a83e41232f5 Mon Sep 17 00:00:00 2001 From: Josh Cooper Date: Fri, 13 Mar 2026 10:05:17 +0000 Subject: [PATCH 31/54] ci: break the vnc + devtools into two separate containers Do this to allow for extra flexibility allowing for consumers to pick and choose which tools they need. This also allows us to use this exact same image to build other containers using the same format and chop and change bits easily --- .github/workflows/_build-image.yaml | 18 ++--- .github/workflows/_build-ros-image.yaml | 82 ++++++++++++++++++++ .github/workflows/docker-build-and-push.yaml | 43 +++++----- vnc.dockerfile | 20 ----- vnc_devtools.dockerfile | 20 +++++ 5 files changed, 132 insertions(+), 51 deletions(-) create mode 100644 .github/workflows/_build-ros-image.yaml create mode 100644 vnc_devtools.dockerfile diff --git a/.github/workflows/_build-image.yaml b/.github/workflows/_build-image.yaml index 1241d02..a5959fb 100644 --- a/.github/workflows/_build-image.yaml +++ b/.github/workflows/_build-image.yaml @@ -11,9 +11,6 @@ on: description: Image name on the LCAS registry required: true type: string - ros_distro: - required: false - type: string dockerfile: required: true type: string @@ -52,16 +49,12 @@ jobs: with: flavor: latest=false labels: | - org.opencontainers.image.description=AOC Docker Image (${{ inputs.push_image }}, ${{ inputs.ros_distro }}) + org.opencontainers.image.description=AOC Docker Image (${{ inputs.push_image }} org.opencontainers.image.authors=L-CAS Team images: lcas.lincoln.ac.uk/${{ inputs.push_image }} tags: | - type=raw,value=${{ inputs.ros_distro }}-staging - type=raw,enable=${{ github.event_name != 'pull_request' }},value=${{ inputs.ros_distro }}-latest - type=ref,enable=${{ github.event_name != 'pull_request' }},event=branch,prefix=${{ inputs.ros_distro }}- - type=semver,pattern={{version}},prefix=${{ inputs.ros_distro }}- - type=semver,pattern={{major}}.{{minor}},prefix=${{ inputs.ros_distro }}- - type=semver,pattern={{major}},prefix=${{ inputs.ros_distro }}- + type=raw,value=staging + type=raw,enable=${{ github.event_name != 'pull_request' }},value=latest - uses: docker/setup-buildx-action@v3 @@ -73,10 +66,9 @@ jobs: file: ./${{ inputs.dockerfile }} platforms: ${{ inputs.architectures }} push: true - cache-from: type=registry,ref=lcas.lincoln.ac.uk/cache/${{ inputs.push_image }}:${{ inputs.ros_distro }} - cache-to: type=registry,ref=lcas.lincoln.ac.uk/cache/${{ inputs.push_image }}:${{ inputs.ros_distro }},mode=max + cache-from: type=registry,ref=lcas.lincoln.ac.uk/cache/${{ inputs.push_image }}:latest + cache-to: type=registry,ref=lcas.lincoln.ac.uk/cache/${{ inputs.push_image }}:latest,mode=max tags: ${{ steps.meta.outputs.tags }} labels: ${{ steps.meta.outputs.labels }} build-args: | BASE_IMAGE=${{ inputs.base_image }} - ROS_DISTRO=${{ inputs.ros_distro }} diff --git a/.github/workflows/_build-ros-image.yaml b/.github/workflows/_build-ros-image.yaml new file mode 100644 index 0000000..e7dd931 --- /dev/null +++ b/.github/workflows/_build-ros-image.yaml @@ -0,0 +1,82 @@ +name: Build a single ROS Docker image (reusable) + +on: + workflow_call: + inputs: + base_image: + description: The FROM base image + required: true + type: string + push_image: + description: Image name on the LCAS registry + required: true + type: string + ros_distro: + required: true + type: string + dockerfile: + required: true + type: string + architectures: + required: true + type: string + outputs: + digest: + description: Image digest from the build + value: ${{ jobs.build.outputs.digest }} + secrets: + LCAS_REGISTRY_PUSHER: + required: true + LCAS_REGISTRY_TOKEN: + required: true + +jobs: + build: + runs-on: [lcas, qemu] + outputs: + digest: ${{ steps.build.outputs.digest }} + steps: + - uses: actions/setup-node@v4 + - uses: actions/checkout@v3 + - run: echo "BRANCH=${GITHUB_REF##*/}" >> $GITHUB_ENV + + - uses: docker/login-action@v3 + with: + registry: lcas.lincoln.ac.uk + username: ${{ secrets.LCAS_REGISTRY_PUSHER }} + password: ${{ secrets.LCAS_REGISTRY_TOKEN }} + + - name: Docker meta + id: meta + uses: docker/metadata-action@v5 + with: + flavor: latest=false + labels: | + org.opencontainers.image.description=AOC Docker Image (${{ inputs.push_image }}, ${{ inputs.ros_distro }}) + org.opencontainers.image.authors=L-CAS Team + images: lcas.lincoln.ac.uk/${{ inputs.push_image }} + tags: | + type=raw,value=${{ inputs.ros_distro }}-staging + type=raw,enable=${{ github.event_name != 'pull_request' }},value=${{ inputs.ros_distro }}-latest + type=ref,enable=${{ github.event_name != 'pull_request' }},event=branch,prefix=${{ inputs.ros_distro }}- + type=semver,pattern={{version}},prefix=${{ inputs.ros_distro }}- + type=semver,pattern={{major}}.{{minor}},prefix=${{ inputs.ros_distro }}- + type=semver,pattern={{major}},prefix=${{ inputs.ros_distro }}- + + - uses: docker/setup-buildx-action@v3 + + - name: Build and push + id: build + uses: docker/build-push-action@v6 + with: + context: ./docker + file: ./${{ inputs.dockerfile }} + platforms: ${{ inputs.architectures }} + push: true + cache-from: type=registry,ref=lcas.lincoln.ac.uk/cache/${{ inputs.push_image }}:${{ inputs.ros_distro }} + cache-to: type=registry,ref=lcas.lincoln.ac.uk/cache/${{ inputs.push_image }}:${{ inputs.ros_distro }},mode=max + tags: ${{ steps.meta.outputs.tags }} + labels: ${{ steps.meta.outputs.labels }} + build-args: | + BASE_IMAGE=${{ inputs.base_image }} + ROS_DISTRO=${{ inputs.ros_distro }} diff --git a/.github/workflows/docker-build-and-push.yaml b/.github/workflows/docker-build-and-push.yaml index 2219392..4975f75 100644 --- a/.github/workflows/docker-build-and-push.yaml +++ b/.github/workflows/docker-build-and-push.yaml @@ -9,21 +9,18 @@ on: workflow_dispatch: jobs: - - # ── VNC Container Building ──────────────────────-──────────────────────── - # vnc: - # uses: ./.github/workflows/_build-image.yaml - # with: - # base_image: debian:trixie-slim - # push_image: vnc - # dockerfile: vnc.dockerfile - # architectures: linux/amd64,linux/arm64 - # secrets: inherit - # ── Level 0: no dependencies ────────────────────────────────────────────── + vnc: + uses: ./.github/workflows/_build-image.yaml + with: + base_image: debian:trixie-slim + push_image: vnc + dockerfile: vnc.dockerfile + architectures: linux/amd64,linux/arm64 + secrets: inherit ros-humble: - uses: ./.github/workflows/_build-image.yaml + uses: ./.github/workflows/_build-ros-image.yaml with: base_image: ros:humble push_image: ros @@ -33,7 +30,7 @@ jobs: secrets: inherit ros-jazzy: - uses: ./.github/workflows/_build-image.yaml + uses: ./.github/workflows/_build-ros-image.yaml with: base_image: ros:jazzy push_image: ros @@ -43,7 +40,7 @@ jobs: secrets: inherit ros-cuda-humble: - uses: ./.github/workflows/_build-image.yaml + uses: ./.github/workflows/_build-ros-image.yaml with: base_image: nvidia/cuda:11.8.0-runtime-ubuntu22.04 push_image: ros_cuda @@ -53,7 +50,7 @@ jobs: secrets: inherit ros-cuda-jazzy: - uses: ./.github/workflows/_build-image.yaml + uses: ./.github/workflows/_build-ros-image.yaml with: base_image: nvidia/cuda:12.6.3-cudnn-devel-ubuntu24.04 push_image: ros_cuda @@ -63,10 +60,20 @@ jobs: secrets: inherit # ── Level 1: base_image is the exact digest from level 0 ───────────────── + vnc-devtools: + needs: vnc + uses: ./.github/workflows/_build-image.yaml + with: + base_image: lcas.lincoln.ac.uk/vnc@${{ needs.vnc.outputs.digest }} + push_image: vnc_devtools + ros_distro: humble + dockerfile: vnc_devtools.dockerfile + architectures: linux/amd64,linux/arm64 + secrets: inherit ros-cuda-desktop-humble: needs: ros-cuda-humble - uses: ./.github/workflows/_build-image.yaml + uses: ./.github/workflows/_build-ros-image.yaml with: # Digest is immutable — no staging tag, no race condition, no cleanup base_image: lcas.lincoln.ac.uk/ros_cuda@${{ needs.ros-cuda-humble.outputs.digest }} @@ -78,11 +85,11 @@ jobs: ros-cuda-desktop-jazzy: needs: ros-cuda-jazzy - uses: ./.github/workflows/_build-image.yaml + uses: ./.github/workflows/_build-ros-image.yaml with: base_image: lcas.lincoln.ac.uk/ros_cuda@${{ needs.ros-cuda-jazzy.outputs.digest }} push_image: ros_cuda_desktop ros_distro: jazzy dockerfile: cuda_desktop.dockerfile architectures: linux/amd64 - secrets: inherit \ No newline at end of file + secrets: inherit diff --git a/vnc.dockerfile b/vnc.dockerfile index abc3d33..1b7fae1 100644 --- a/vnc.dockerfile +++ b/vnc.dockerfile @@ -88,7 +88,6 @@ RUN apt-get update && \ xfce4-session \ xfce4-panel \ xfdesktop4 \ - konsole \ && rm -rf /var/lib/apt/lists/* RUN apt-get purge -y xfce4-screensaver @@ -122,22 +121,3 @@ ENV VGL_WM=1 ENV VGL_PROBEGLX=0 ENV LD_PRELOAD=/usr/lib/libdlfaker.so:/usr/lib/libvglfaker.so ENV SHELL=/bin/bash - -FROM xfce AS docker-tools - -ARG DOCKER_GID=984 - -# Install Docker (for docker exec etc) -USER root -RUN apt-get update && \ - apt-get install -y ca-certificates curl && \ - install -m 0755 -d /etc/apt/keyrings && \ - curl -fsSL https://download.docker.com/linux/debian/gpg -o /etc/apt/keyrings/docker.asc && \ - echo "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/docker.asc] https://download.docker.com/linux/debian $(. /etc/os-release && echo $VERSION_CODENAME) stable" > /etc/apt/sources.list.d/docker.list && \ - apt-get update && \ - apt-get install -y docker-ce-cli && \ - rm -rf /var/lib/apt/lists/* && \ - groupadd -g $DOCKER_GID docker && \ - usermod -aG docker ${username} - -USER ${username} diff --git a/vnc_devtools.dockerfile b/vnc_devtools.dockerfile new file mode 100644 index 0000000..7271b1d --- /dev/null +++ b/vnc_devtools.dockerfile @@ -0,0 +1,20 @@ +ARG BASE_IMAGE +FROM ${BASE_IMAGE} AS base +ARG username=lcas + +ARG DOCKER_GID=984 + +# Install Docker (for docker exec etc) +USER root +RUN apt-get update && \ + apt-get install -y ca-certificates curl && \ + install -m 0755 -d /etc/apt/keyrings && \ + curl -fsSL https://download.docker.com/linux/debian/gpg -o /etc/apt/keyrings/docker.asc && \ + echo "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/docker.asc] https://download.docker.com/linux/debian $(. /etc/os-release && echo $VERSION_CODENAME) stable" > /etc/apt/sources.list.d/docker.list && \ + apt-get update && \ + apt-get install -y docker-ce-cli konsole && \ + rm -rf /var/lib/apt/lists/* && \ + groupadd -g $DOCKER_GID docker && \ + usermod -aG docker ${username} + +USER ${username} From dba3a9675a8a5939687893d6127556a4c4c27aa6 Mon Sep 17 00:00:00 2001 From: Josh Cooper Date: Fri, 13 Mar 2026 10:08:30 +0000 Subject: [PATCH 32/54] fix: rm the distro line --- .github/workflows/docker-build-and-push.yaml | 1 - 1 file changed, 1 deletion(-) diff --git a/.github/workflows/docker-build-and-push.yaml b/.github/workflows/docker-build-and-push.yaml index 4975f75..b24fe74 100644 --- a/.github/workflows/docker-build-and-push.yaml +++ b/.github/workflows/docker-build-and-push.yaml @@ -66,7 +66,6 @@ jobs: with: base_image: lcas.lincoln.ac.uk/vnc@${{ needs.vnc.outputs.digest }} push_image: vnc_devtools - ros_distro: humble dockerfile: vnc_devtools.dockerfile architectures: linux/amd64,linux/arm64 secrets: inherit From f4049edb2cca869f0dbb459e7c44e8936ea17df7 Mon Sep 17 00:00:00 2001 From: Josh Cooper Date: Fri, 13 Mar 2026 15:08:38 +0000 Subject: [PATCH 33/54] fix: change context to inside docker folder matching ci actions --- vnc.dockerfile | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/vnc.dockerfile b/vnc.dockerfile index 1b7fae1..887111c 100644 --- a/vnc.dockerfile +++ b/vnc.dockerfile @@ -91,18 +91,18 @@ RUN apt-get update && \ && rm -rf /var/lib/apt/lists/* RUN apt-get purge -y xfce4-screensaver -COPY docker/vnc-entrypoint.sh /entrypoint.sh +COPY vnc-entrypoint.sh /entrypoint.sh RUN chmod +x /entrypoint.sh ENTRYPOINT [ "/entrypoint.sh" ] # Copy in wallpaper -COPY ./docker/wallpapers/*.jpg /usr/share/backgrounds/xfce/ +COPY ./wallpapers/*.jpg /usr/share/backgrounds/xfce/ # Allow other containers to share windows into this display RUN echo 'xhost +local: 2>/dev/null' >> ~/.bashrc && \ echo "if [ -f /etc/bash.bashrc ]; then source /etc/bash.bashrc; fi" >> /root/.bashrc && \ echo "alias cls='clear'" >> /etc/bash.bashrc && \ - echo 'echo -e "$(printf "%80s" | tr " " "-") \nYou are inside the VNC container,\n - You do not have access to ROS in this terminal\n - You may docker exec into other containers.\n$(printf "%80s" | tr " " "-")\n"' >> /etc/bash.bashrc + echo 'echo -e "$(printf "%80s" | tr " " "-") \nYou are inside the VNC container,\n - You do not have access to ROS in this terminal\n - You may docker exec into other containers if that is configured.\n$(printf "%80s" | tr " " "-")\n"' >> /etc/bash.bashrc EXPOSE 5801 From b788647ed852acb549992a16185aafcc42c67eda Mon Sep 17 00:00:00 2001 From: Josh Cooper Date: Fri, 13 Mar 2026 16:26:56 +0000 Subject: [PATCH 34/54] Apply suggestions from code review Co-authored-by: Copilot Autofix powered by AI <175728472+Copilot@users.noreply.github.com> --- .github/workflows/_build-image.yaml | 2 +- vnc.dockerfile | 8 ++++++-- 2 files changed, 7 insertions(+), 3 deletions(-) diff --git a/.github/workflows/_build-image.yaml b/.github/workflows/_build-image.yaml index 7dde7ee..c299723 100644 --- a/.github/workflows/_build-image.yaml +++ b/.github/workflows/_build-image.yaml @@ -52,7 +52,7 @@ jobs: with: flavor: latest=false labels: | - org.opencontainers.image.description=AOC Docker Image (${{ inputs.push_image }} + org.opencontainers.image.description=AOC Docker Image (${{ inputs.push_image }}) org.opencontainers.image.authors=L-CAS Team images: lcas.lincoln.ac.uk/${{ inputs.push_image }} tags: | diff --git a/vnc.dockerfile b/vnc.dockerfile index 887111c..5f840d0 100644 --- a/vnc.dockerfile +++ b/vnc.dockerfile @@ -42,7 +42,8 @@ RUN apt-get update && apt-get install -y --no-install-recommends \ # Create non-root user RUN useradd -m -s /bin/bash -G video,sudo ${username} && \ - echo "${username} ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers + echo "${username} ALL=(ALL) NOPASSWD:ALL" > /etc/sudoers.d/${username} && \ + chmod 0440 /etc/sudoers.d/${username} # Fix /tmp/.X11-unix permissions RUN mkdir -p /tmp/.X11-unix && \ @@ -62,6 +63,9 @@ RUN cat < /usr/share/glvnd/egl_vendor.d/10_nvidia.json } EOF +# Install Python 3 for noVNC/websockify +RUN apt-get update && apt-get install -y python3 && rm -rf /var/lib/apt/lists/* + # Install TurboVNC RUN wget -q -O- https://packagecloud.io/dcommander/turbovnc/gpgkey | gpg --dearmor >/etc/apt/trusted.gpg.d/TurboVNC.gpg && \ echo "deb [signed-by=/etc/apt/trusted.gpg.d/TurboVNC.gpg] https://packagecloud.io/dcommander/turbovnc/any/ any main" >> /etc/apt/sources.list.d/TurboVNC.list && \ @@ -99,7 +103,7 @@ ENTRYPOINT [ "/entrypoint.sh" ] COPY ./wallpapers/*.jpg /usr/share/backgrounds/xfce/ # Allow other containers to share windows into this display -RUN echo 'xhost +local: 2>/dev/null' >> ~/.bashrc && \ +RUN echo 'xhost +local: 2>/dev/null' >> /etc/bash.bashrc && \ echo "if [ -f /etc/bash.bashrc ]; then source /etc/bash.bashrc; fi" >> /root/.bashrc && \ echo "alias cls='clear'" >> /etc/bash.bashrc && \ echo 'echo -e "$(printf "%80s" | tr " " "-") \nYou are inside the VNC container,\n - You do not have access to ROS in this terminal\n - You may docker exec into other containers if that is configured.\n$(printf "%80s" | tr " " "-")\n"' >> /etc/bash.bashrc From a7b6e0e5014eba41a403c9548d55ccbef8fcf840 Mon Sep 17 00:00:00 2001 From: Copilot <198982749+Copilot@users.noreply.github.com> Date: Fri, 13 Mar 2026 16:31:41 +0000 Subject: [PATCH 35/54] Remove unused VNC_PORT env var from vnc.dockerfile (#7) * Initial plan * Remove unused VNC_PORT env var from vnc.dockerfile Co-authored-by: cooperj <28831674+cooperj@users.noreply.github.com> --------- Co-authored-by: copilot-swe-agent[bot] <198982749+Copilot@users.noreply.github.com> Co-authored-by: cooperj <28831674+cooperj@users.noreply.github.com> --- vnc.dockerfile | 1 - 1 file changed, 1 deletion(-) diff --git a/vnc.dockerfile b/vnc.dockerfile index 5f840d0..1365b2f 100644 --- a/vnc.dockerfile +++ b/vnc.dockerfile @@ -7,7 +7,6 @@ ENV BASE_IMAGE=${BASE_IMAGE} ENV DEBIAN_FRONTEND=noninteractive \ DISPLAY=:1 \ - VNC_PORT=5900 \ NOVNC_PORT=5801 \ RESOLUTION=1366x768x24 From 0eeb0a34db2b1e59dd09b7d8da7ef8dea22d3816 Mon Sep 17 00:00:00 2001 From: Josh Cooper Date: Fri, 20 Mar 2026 15:53:11 +0000 Subject: [PATCH 36/54] fix: rm the warning on contexts outside of a terminal inside vnc terminal tidy: run formatter and linter on all the dockerfiles to make them nicer --- base.dockerfile | 32 ++++++++++---------- cuda.dockerfile | 65 ++++++++++++++++++++--------------------- cuda_desktop.dockerfile | 1 - vnc.dockerfile | 64 ++++++++++++++++++++-------------------- vnc_devtools.dockerfile | 20 ++++++------- 5 files changed, 89 insertions(+), 93 deletions(-) diff --git a/base.dockerfile b/base.dockerfile index 1e9ead5..9e0e146 100644 --- a/base.dockerfile +++ b/base.dockerfile @@ -11,20 +11,20 @@ ENV ROS_DISTRO=${ROS_DISTRO} ENV DEBIAN_FRONTEND=noninteractive RUN apt-get update \ - && apt-get upgrade -y && \ - apt-get install -y --no-install-recommends \ - build-essential \ - ca-certificates \ - gnupg \ - cmake \ - git \ - curl \ - wget \ - unzip \ - ros-${ROS_DISTRO}-ros-base \ - ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \ - python3-colcon-common-extensions && \ - rm -rf /var/lib/apt/lists/* + && apt-get upgrade -y \ + && apt-get install -y --no-install-recommends \ + build-essential \ + ca-certificates \ + gnupg \ + cmake \ + git \ + curl \ + wget \ + unzip \ + ros-${ROS_DISTRO}-ros-base \ + ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \ + python3-colcon-common-extensions \ + && rm -rf /var/lib/apt/lists/* ENV LANG=en_US.UTF-8 @@ -39,8 +39,7 @@ RUN groupadd --gid $USER_GID $USERNAME \ && useradd -s /bin/bash --uid $USER_UID --gid $USER_GID -m $USERNAME \ && apt-get update \ && apt-get install -y --no-install-recommends sudo \ - && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME\ - && chmod 0440 /etc/sudoers.d/$USERNAME \ + && echo $USERNAME ALL=\(root\) NOPASSWD:ALL >/etc/sudoers.d/$USERNAME && chmod 0440 /etc/sudoers.d/$USERNAME \ && rm -rf /var/lib/apt/lists/* # Cyclone DDS Config @@ -60,4 +59,3 @@ ENV CYCLONEDDS_URI=file:///etc/cyclonedds.xml USER ${USERNAME} CMD ["bash", "-l"] - diff --git a/cuda.dockerfile b/cuda.dockerfile index 0a4e2ec..6f963a8 100644 --- a/cuda.dockerfile +++ b/cuda.dockerfile @@ -12,35 +12,35 @@ ENV ROS_DISTRO=${ROS_DISTRO} ENV DEBIAN_FRONTEND=noninteractive RUN apt-get update \ - && apt-get upgrade -y \ - && apt-get install -y --no-install-recommends \ - locales \ - curl \ - wget \ - ca-certificates \ - gnupg2 \ - lsb-release \ - git \ - nano \ - python3-setuptools \ - software-properties-common \ - tzdata \ - && locale-gen en_US.UTF-8 \ - && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 \ - && rm -rf /var/lib/apt/lists/* + && apt-get upgrade -y \ + && apt-get install -y --no-install-recommends \ + locales \ + curl \ + wget \ + ca-certificates \ + gnupg2 \ + lsb-release \ + git \ + nano \ + python3-setuptools \ + software-properties-common \ + tzdata \ + && locale-gen en_US.UTF-8 \ + && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 \ + && rm -rf /var/lib/apt/lists/* ENV LANG=en_US.UTF-8 # Prepare ROS2 RUN add-apt-repository universe \ - && 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 $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null + && curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \ + && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list >/dev/null RUN apt-get update && apt-get install -y --no-install-recommends \ - ros-${ROS_DISTRO}-ros-base \ - python3-rosdep \ - ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \ - && rm -rf /var/lib/apt/lists/* + ros-${ROS_DISTRO}-ros-base \ + python3-rosdep \ + ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \ + && rm -rf /var/lib/apt/lists/* # Cyclone DDS Config COPY cyclonedds.xml /etc/cyclonedds.xml @@ -48,9 +48,9 @@ COPY cyclonedds.xml /etc/cyclonedds.xml RUN . /opt/ros/${ROS_DISTRO}/setup.sh && rosdep init && rosdep update # Setup VirtualGL -RUN wget -q -O- https://packagecloud.io/dcommander/virtualgl/gpgkey | gpg --dearmor >/etc/apt/trusted.gpg.d/VirtualGL.gpg && \ - echo "deb [signed-by=/etc/apt/trusted.gpg.d/VirtualGL.gpg] https://packagecloud.io/dcommander/virtualgl/any/ any main" >> /etc/apt/sources.list.d/virtualgl.list && \ - apt update && apt install -y virtualgl libgl1 && rm -rf /var/lib/apt/lists/* +RUN wget -q -O- https://packagecloud.io/dcommander/virtualgl/gpgkey | gpg --dearmor >/etc/apt/trusted.gpg.d/VirtualGL.gpg \ + && echo "deb [signed-by=/etc/apt/trusted.gpg.d/VirtualGL.gpg] https://packagecloud.io/dcommander/virtualgl/any/ any main" >>/etc/apt/sources.list.d/virtualgl.list \ + && apt-get update && apt-get install -y virtualgl libgl1 && rm -rf /var/lib/apt/lists/* # Create a non-root user ARG USERNAME=ros @@ -58,13 +58,12 @@ ARG USER_UID=1001 ARG USER_GID=$USER_UID RUN groupadd --gid $USER_GID $USERNAME \ - && useradd -s /bin/bash --uid $USER_UID --gid $USER_GID -m $USERNAME \ - # Add sudo support for the non-root user\ - && apt-get update \ - && apt-get install -y --no-install-recommends sudo \ - && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME\ - && chmod 0440 /etc/sudoers.d/$USERNAME \ - && rm -rf /var/lib/apt/lists/* + && useradd -s /bin/bash --uid $USER_UID --gid $USER_GID -m $USERNAME \ + # Add sudo support for the non-root user\ + && apt-get update \ + && apt-get install -y --no-install-recommends sudo \ + && echo $USERNAME ALL=\(root\) NOPASSWD:ALL >/etc/sudoers.d/$USERNAME && chmod 0440 /etc/sudoers.d/$USERNAME \ + && rm -rf /var/lib/apt/lists/* # Configure bash profile RUN echo "if [ -f /etc/bash.bashrc ]; then source /etc/bash.bashrc; fi" >> /root/.bashrc && \ @@ -74,7 +73,7 @@ RUN echo "if [ -f /etc/bash.bashrc ]; then source /etc/bash.bashrc; fi" >> /root echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /etc/bash.bashrc && \ echo "alias t='tmux'" >> /etc/bash.bashrc && \ echo "alias cls='clear'" >> /etc/bash.bashrc - + ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp ENV CYCLONEDDS_URI=file:///etc/cyclonedds.xml ENV TVNC_VGL=1 diff --git a/cuda_desktop.dockerfile b/cuda_desktop.dockerfile index 30e7907..12dd340 100644 --- a/cuda_desktop.dockerfile +++ b/cuda_desktop.dockerfile @@ -1,6 +1,5 @@ ARG BASE_IMAGE=lcas.lincoln.ac.uk/ros_cuda:humble-main -########################################### FROM ${BASE_IMAGE} AS base RUN sudo apt-get update && sudo apt-get install -y --no-install-recommends \ diff --git a/vnc.dockerfile b/vnc.dockerfile index 1365b2f..ccb0e53 100644 --- a/vnc.dockerfile +++ b/vnc.dockerfile @@ -40,24 +40,24 @@ RUN apt-get update && apt-get install -y --no-install-recommends \ && rm -rf /var/lib/apt/lists/* # Create non-root user -RUN useradd -m -s /bin/bash -G video,sudo ${username} && \ - echo "${username} ALL=(ALL) NOPASSWD:ALL" > /etc/sudoers.d/${username} && \ - chmod 0440 /etc/sudoers.d/${username} +RUN useradd -m -s /bin/bash -G video,sudo ${username} \ + && echo "${username} ALL=(ALL) NOPASSWD:ALL" >/etc/sudoers.d/${username} \ + && chmod 0440 /etc/sudoers.d/${username} # Fix /tmp/.X11-unix permissions -RUN mkdir -p /tmp/.X11-unix && \ - chmod 1777 /tmp/.X11-unix +RUN mkdir -p /tmp/.X11-unix \ + && chmod 1777 /tmp/.X11-unix # Install VirtualGL -RUN wget -q -O- https://packagecloud.io/dcommander/virtualgl/gpgkey | gpg --dearmor >/etc/apt/trusted.gpg.d/VirtualGL.gpg && \ - echo "deb [signed-by=/etc/apt/trusted.gpg.d/VirtualGL.gpg] https://packagecloud.io/dcommander/virtualgl/any/ any main" >> /etc/apt/sources.list.d/virtualgl.list && \ - apt update && apt install -y virtualgl libgl1 && rm -rf /var/lib/apt/lists/* +RUN wget -q -O- https://packagecloud.io/dcommander/virtualgl/gpgkey | gpg --dearmor >/etc/apt/trusted.gpg.d/VirtualGL.gpg \ + && echo "deb [signed-by=/etc/apt/trusted.gpg.d/VirtualGL.gpg] https://packagecloud.io/dcommander/virtualgl/any/ any main" >>/etc/apt/sources.list.d/virtualgl.list \ + && apt-get update && apt-get install -y virtualgl libgl1 && rm -rf /var/lib/apt/lists/* -RUN cat < /usr/share/glvnd/egl_vendor.d/10_nvidia.json +COPY </etc/apt/trusted.gpg.d/TurboVNC.gpg && \ - echo "deb [signed-by=/etc/apt/trusted.gpg.d/TurboVNC.gpg] https://packagecloud.io/dcommander/turbovnc/any/ any main" >> /etc/apt/sources.list.d/TurboVNC.list && \ - apt update && apt install -y turbovnc && rm -rf /var/lib/apt/lists/* +RUN wget -q -O- https://packagecloud.io/dcommander/turbovnc/gpgkey | gpg --dearmor >/etc/apt/trusted.gpg.d/TurboVNC.gpg \ + && echo "deb [signed-by=/etc/apt/trusted.gpg.d/TurboVNC.gpg] https://packagecloud.io/dcommander/turbovnc/any/ any main" >>/etc/apt/sources.list.d/TurboVNC.list \ + && apt-get update && apt-get install -y turbovnc && rm -rf /var/lib/apt/lists/* # Install noVNC ENV NOVNC_VERSION=1.4.0 ENV WEBSOCKETIFY_VERSION=0.10.0 -RUN mkdir -p /usr/local/novnc && \ - curl -sSL https://github.com/novnc/noVNC/archive/v${NOVNC_VERSION}.zip -o /tmp/novnc-install.zip && \ - unzip /tmp/novnc-install.zip -d /usr/local/novnc && \ - cp /usr/local/novnc/noVNC-${NOVNC_VERSION}/vnc.html /usr/local/novnc/noVNC-${NOVNC_VERSION}/index.html && \ - curl -sSL https://github.com/novnc/websockify/archive/v${WEBSOCKETIFY_VERSION}.zip -o /tmp/websockify-install.zip && \ - unzip /tmp/websockify-install.zip -d /usr/local/novnc && \ - ln -s /usr/local/novnc/websockify-${WEBSOCKETIFY_VERSION} /usr/local/novnc/noVNC-${NOVNC_VERSION}/utils/websockify && \ - rm -f /tmp/websockify-install.zip /tmp/novnc-install.zip && \ - sed -i -E 's/^python /python3 /' /usr/local/novnc/websockify-${WEBSOCKETIFY_VERSION}/run +RUN mkdir -p /usr/local/novnc \ + && curl -sSL https://github.com/novnc/noVNC/archive/v${NOVNC_VERSION}.zip -o /tmp/novnc-install.zip \ + && unzip /tmp/novnc-install.zip -d /usr/local/novnc \ + && cp /usr/local/novnc/noVNC-${NOVNC_VERSION}/vnc.html /usr/local/novnc/noVNC-${NOVNC_VERSION}/index.html \ + && curl -sSL https://github.com/novnc/websockify/archive/v${WEBSOCKETIFY_VERSION}.zip -o /tmp/websockify-install.zip \ + && unzip /tmp/websockify-install.zip -d /usr/local/novnc \ + && ln -s /usr/local/novnc/websockify-${WEBSOCKETIFY_VERSION} /usr/local/novnc/noVNC-${NOVNC_VERSION}/utils/websockify \ + && rm -f /tmp/websockify-install.zip /tmp/novnc-install.zip \ + && sed -i -E 's/^python /python3 /' /usr/local/novnc/websockify-${WEBSOCKETIFY_VERSION}/run FROM base AS xfce # Install XFCE4 -RUN apt-get update && \ - apt-get -y install \ - xfce4-session \ - xfce4-panel \ - xfdesktop4 \ +RUN apt-get update \ + && apt-get -y install \ + xfce4-session \ + xfce4-panel \ + xfdesktop4 \ && rm -rf /var/lib/apt/lists/* RUN apt-get purge -y xfce4-screensaver COPY vnc-entrypoint.sh /entrypoint.sh RUN chmod +x /entrypoint.sh -ENTRYPOINT [ "/entrypoint.sh" ] +ENTRYPOINT ["/entrypoint.sh"] # Copy in wallpaper COPY ./wallpapers/*.jpg /usr/share/backgrounds/xfce/ @@ -105,14 +105,14 @@ COPY ./wallpapers/*.jpg /usr/share/backgrounds/xfce/ RUN echo 'xhost +local: 2>/dev/null' >> /etc/bash.bashrc && \ echo "if [ -f /etc/bash.bashrc ]; then source /etc/bash.bashrc; fi" >> /root/.bashrc && \ echo "alias cls='clear'" >> /etc/bash.bashrc && \ - echo 'echo -e "$(printf "%80s" | tr " " "-") \nYou are inside the VNC container,\n - You do not have access to ROS in this terminal\n - You may docker exec into other containers if that is configured.\n$(printf "%80s" | tr " " "-")\n"' >> /etc/bash.bashrc + echo '[[ $- == *i* ]] && [[ $$ -ne 1 ]] && echo -e "$(printf "%80s" | tr " " "=") \nYou are inside the VNC container,\n - You do not have access to ROS in this terminal\n - You may docker exec into other containers if that is configured.\n$(printf "%80s" | tr " " "=")\n"' >> /etc/bash.bashrc EXPOSE 5801 USER ${username} ENV HOME=/home/${username} WORKDIR ${HOME} -RUN mkdir -p ${HOME}/.local/bin +RUN mkdir -p ${HOME}/.local/bin ENV DISPLAY=:1 ENV TVNC_VGL=1 diff --git a/vnc_devtools.dockerfile b/vnc_devtools.dockerfile index 7271b1d..347a993 100644 --- a/vnc_devtools.dockerfile +++ b/vnc_devtools.dockerfile @@ -6,15 +6,15 @@ ARG DOCKER_GID=984 # Install Docker (for docker exec etc) USER root -RUN apt-get update && \ - apt-get install -y ca-certificates curl && \ - install -m 0755 -d /etc/apt/keyrings && \ - curl -fsSL https://download.docker.com/linux/debian/gpg -o /etc/apt/keyrings/docker.asc && \ - echo "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/docker.asc] https://download.docker.com/linux/debian $(. /etc/os-release && echo $VERSION_CODENAME) stable" > /etc/apt/sources.list.d/docker.list && \ - apt-get update && \ - apt-get install -y docker-ce-cli konsole && \ - rm -rf /var/lib/apt/lists/* && \ - groupadd -g $DOCKER_GID docker && \ - usermod -aG docker ${username} +RUN apt-get update \ + && apt-get install -y ca-certificates curl \ + && install -m 0755 -d /etc/apt/keyrings \ + && curl -fsSL https://download.docker.com/linux/debian/gpg -o /etc/apt/keyrings/docker.asc \ + && echo "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/docker.asc] https://download.docker.com/linux/debian $(. /etc/os-release && echo $VERSION_CODENAME) stable" >/etc/apt/sources.list.d/docker.list \ + && apt-get update \ + && apt-get install -y docker-ce-cli konsole \ + && rm -rf /var/lib/apt/lists/* \ + && groupadd -g $DOCKER_GID docker \ + && usermod -aG docker ${username} USER ${username} From 107fd67a10e84806839daa9e6f6e822409243160 Mon Sep 17 00:00:00 2001 From: Marc Hanheide Date: Mon, 23 Mar 2026 08:54:57 +0000 Subject: [PATCH 37/54] feat: add GPU support for VNC and ROS containers in Docker Compose --- compose.gpu.yml | 24 ++++++++++++++++++++++ compose.yml | 54 +++++++++++++++++++++++++++++++++++++++++++++++++ vnc.dockerfile | 2 ++ 3 files changed, 80 insertions(+) create mode 100644 compose.gpu.yml create mode 100644 compose.yml diff --git a/compose.gpu.yml b/compose.gpu.yml new file mode 100644 index 0000000..25db4fe --- /dev/null +++ b/compose.gpu.yml @@ -0,0 +1,24 @@ +# GPU override — merge on top of compose.yml when an NVIDIA GPU is available. +# Requires the NVIDIA Container Toolkit to be installed and configured. +# +# Usage: docker compose -f compose.yml -f compose.gpu.yml up + +services: + + vnc: + deploy: + resources: + reservations: + devices: + - driver: nvidia + count: all + capabilities: [gpu, utility, video, graphics] + + ros: + deploy: + resources: + reservations: + devices: + - driver: nvidia + count: all + capabilities: [gpu, compute, utility, video, graphics] diff --git a/compose.yml b/compose.yml new file mode 100644 index 0000000..d456bb9 --- /dev/null +++ b/compose.yml @@ -0,0 +1,54 @@ +# Docker Compose illustrating a VNC desktop container alongside a ROS container. +# The ROS container renders GUI applications (e.g. RViz) through the VNC desktop +# by sharing the X11 socket. Both services are on the same bridge network so +# CycloneDDS peer discovery works out of the box. +# +# Usage: +# No GPU: docker compose up +# With GPU: docker compose -f compose.yml -f compose.gpu.yml up +# +# Access the desktop at: http://localhost:5801/vnc.html?autoconnect=true + +services: + + # ── VNC Desktop ────────────────────────────────────────────────────────────── + vnc: + build: + context: ./docker # contains vnc-entrypoint.sh + dockerfile: ../vnc.dockerfile + target: xfce + ports: + - "5801" # noVNC web interface + volumes: + - x11:/tmp/.X11-unix # share X server socket with other containers + networks: + - ros_net + healthcheck: + test: ["CMD", "curl", "-f", "http://localhost:5801/vnc.html"] + interval: 10s + timeout: 5s + retries: 5 + + # ── ROS Container ──────────────────────────────────────────────────────────── + ros: + build: + context: ./docker # contains cyclonedds.xml + dockerfile: ../cuda.dockerfile + depends_on: + vnc: + condition: service_healthy # wait for VNC desktop to be ready before starting ROS + environment: + DISPLAY: ":1" # connect to the VNC X server + volumes: + - x11:/tmp/.X11-unix # X11 socket shared from VNC container + networks: + - ros_net + command: ["sleep", "infinity"] + +# ── Shared resources ─────────────────────────────────────────────────────────── +volumes: + x11: # ephemeral volume for the X11 unix socket + +networks: + ros_net: + driver: bridge # CycloneDDS multicast works within a bridge network diff --git a/vnc.dockerfile b/vnc.dockerfile index ccb0e53..3fe89d6 100644 --- a/vnc.dockerfile +++ b/vnc.dockerfile @@ -124,3 +124,5 @@ ENV VGL_WM=1 ENV VGL_PROBEGLX=0 ENV LD_PRELOAD=/usr/lib/libdlfaker.so:/usr/lib/libvglfaker.so ENV SHELL=/bin/bash + +CMD ["sleep", "infinity"] \ No newline at end of file From d7602676a31fda89fed9e7f0daa2f72431da9b89 Mon Sep 17 00:00:00 2001 From: Josh Cooper Date: Mon, 23 Mar 2026 16:40:26 +0000 Subject: [PATCH 38/54] docs: Revise README for repository name and container details Updated repository name and improved container documentation. --- README.md | 73 +++++++++++++++++++++++++++++++++++++++++++++++++------ 1 file changed, 65 insertions(+), 8 deletions(-) diff --git a/README.md b/README.md index eea8cfa..ddcb95d 100644 --- a/README.md +++ b/README.md @@ -1,10 +1,67 @@ -# aoc_container_base +# LCAS/aoc_container_base -A repository of verstile ROS-enabled Docker containers, orginally developed as apart of the [Agri-OpenCore (AOC) project](https://agri-opencore.org). +A repository of verstile Docker containers, orginally developed as apart of the [Agri-OpenCore (AOC) project](https://agri-opencore.org) stack. -| Container Name | Tags | Purpose | -| ------------------------------------- | --------------------- | --------------------------------------------------------------------------------------------------------------------------------- | -| `lcas.lincoln.ac.uk/ros` | { `humble`, `jazzy` } | Base ROS Container, the minimal environment you need for ROS | -| `lcas.lincoln.ac.uk/ros_cuda` | { `humble`, `jazzy` } | ROS + Nvidia. When you need to use a GPU in your ROS environment for either better quality simulation or AI workloads. | -| `lcas.lincoln.ac.uk/ros_cuda_desktop` | { `humble`, `jazzy` } | ROS + Nvidia + Packages. Installs the `ros-{distro}-desktop` varient so there is the full ROS stack available. | -| `lcas.lincoln.ac.uk/vnc` | { `latest` } | X11 destination accessible over a website using NoVNC. | \ No newline at end of file +This repository provides us with the following containers: + +| Container Name | Varients | Purpose | File | +| --- | --- | --- | --- | +| `lcas.lincoln.ac.uk/ros` | `humble` `jazzy` | Base ROS Container, the minimal environment you need for ROS | [base.dockerfile](base.dockerfile) | +| `lcas.lincoln.ac.uk/ros_cuda` | `humble` `jazzy` | ROS + Nvidia. When you need to use a GPU in your ROS environment for either better quality simulation or AI workloads. | [cuda.dockerfile](cuda.dockerfile) | +| `lcas.lincoln.ac.uk/ros_cuda_desktop` | `humble` `jazzy` | ROS + Nvidia + Packages. Installs the `ros-{distro}-desktop` varient so there is the full ROS stack available. | [cuda_desktop.dockerfile](cuda_desktop.dockerfile) | +| `lcas.lincoln.ac.uk/vnc` | `latest` | Standalone VNC container that can take X11 visualisations and show them in a browser. | [vnc.dockerfile](vnc.dockerfile) | +| `lcas.lincoln.ac.uk/vnc_devtools` | `latest` | Adds development tools such as a terminal for the standard VNC environment. | [vnc_devtools.dockerfile](vnc_devtools.dockerfile) | + +These containers are built from three standard container images, `ros`, `nvidia/cuda` and `debian`. Each container is either built from one of these pre-existing images or one derrived from it in this pattern. + +```mermaid +flowchart TB + library/ros["library/ros"] --> lcas/ros["lcas/ros"] + nvidia/cuda["nvidia/cuda"] --> lcas/ros_cuda["lcas/ros_cuda"] + lcas/ros_cuda --> lcas/ros_cuda_desktop["lcas/ros_cuda_desktop"] + debian["debian"] --> vnc["vnc"] + vnc --> vnc_devtools["vnc_devtools"] + + style library/ros stroke-width:1px,stroke-dasharray: 1,fill:#ffffff + style lcas/ros fill:#BBDEFB + style nvidia/cuda stroke-width:1px,stroke-dasharray: 1,fill:#ffffff + style lcas/ros_cuda fill:#BBDEFB + style lcas/ros_cuda_desktop fill:#BBDEFB + style debian stroke-width:1px,stroke-dasharray: 1,fill:#ffffff + style vnc fill:#BBDEFB + style vnc_devtools fill:#BBDEFB +``` + +## How can I use this? + +This works best if you follow the [`ros2_workspace_template`](https://github.com/lcas/ros2_pkg_template), use this as a template to build your own repositories, that contain the packages you want to ship. + +You can work either inside the devcontainer or by running the container yourself, and then when you are ready start by enabling the deployment workflows and adding automated testing. Then once you're happy move this onto a real robot platform - and keep iterating till it works! + +```mermaid +%%{init: {"theme":"neutral","flowchart":{"curve":"linear"}}}%% +flowchart LR + Dev["Develop in the Devcontainer"] + Workflows["Activate Workflows to Build and Push Images"] + AutoTest["Add Automated Testing Steps Where Possible"] + Deploy["Add/Update Your Container on to the Platform Deployment Repository"] + RealTest["Test the Packages on a Real Robot"] + Outcome{"Did it work well?"} + Fix(("Make changes that will fix the issues")) + Complete(["✅ Complete"]) + + %% main flow + Dev --> Workflows --> AutoTest --> Deploy --> RealTest --> Outcome + Outcome -- "Yes" --> Complete + Outcome -- "No" --> Fix --> AutoTest + + %% iterative dev loop (renders as a real loop in GitHub) + Dev -. "Iterate" .-> Iter(("🔄")) + Iter -.-> Dev + + %% keep it subtle (GitHub-friendly) + classDef loop fill:transparent,stroke:#999,stroke-width:1px; + class Iter loop; +``` + +# From ebf11fa694f37c43d272abff6fb85d9ab018120d Mon Sep 17 00:00:00 2001 From: Josh Cooper Date: Tue, 24 Mar 2026 10:32:03 +0000 Subject: [PATCH 39/54] docs: Enhance README with Development and Deployment sections Added sections for Development and Deployment in README. --- README.md | 33 +++++++++++++++++++-------------- 1 file changed, 19 insertions(+), 14 deletions(-) diff --git a/README.md b/README.md index ddcb95d..6f2a6f4 100644 --- a/README.md +++ b/README.md @@ -1,8 +1,8 @@ -# LCAS/aoc_container_base +# AOC Container Base -A repository of verstile Docker containers, orginally developed as apart of the [Agri-OpenCore (AOC) project](https://agri-opencore.org) stack. +A repository of verstile Docker containers, orginally developed as apart of the [Agri-OpenCore (AOC) project](https://agri-opencore.org). Designed for the execution of simple and reliable containerised robotics solutions. -This repository provides us with the following containers: +This repository manages the following containers: | Container Name | Varients | Purpose | File | | --- | --- | --- | --- | @@ -15,25 +15,24 @@ This repository provides us with the following containers: These containers are built from three standard container images, `ros`, `nvidia/cuda` and `debian`. Each container is either built from one of these pre-existing images or one derrived from it in this pattern. ```mermaid +%%{init: {"theme":"neutral"}}%% flowchart TB - library/ros["library/ros"] --> lcas/ros["lcas/ros"] - nvidia/cuda["nvidia/cuda"] --> lcas/ros_cuda["lcas/ros_cuda"] - lcas/ros_cuda --> lcas/ros_cuda_desktop["lcas/ros_cuda_desktop"] + library_ros["library/ros"] --> lcas_ros["lcas/ros"] + nvidia_cuda["nvidia/cuda"] --> lcas_ros_cuda["lcas/ros_cuda"] + lcas_ros_cuda --> lcas_ros_cuda_desktop["lcas/ros_cuda_desktop"] debian["debian"] --> vnc["vnc"] vnc --> vnc_devtools["vnc_devtools"] - style library/ros stroke-width:1px,stroke-dasharray: 1,fill:#ffffff - style lcas/ros fill:#BBDEFB - style nvidia/cuda stroke-width:1px,stroke-dasharray: 1,fill:#ffffff - style lcas/ros_cuda fill:#BBDEFB - style lcas/ros_cuda_desktop fill:#BBDEFB - style debian stroke-width:1px,stroke-dasharray: 1,fill:#ffffff - style vnc fill:#BBDEFB - style vnc_devtools fill:#BBDEFB + %% External base images (dashed) + style library_ros stroke-width:1px,stroke-dasharray: 3 3 + style nvidia_cuda stroke-width:1px,stroke-dasharray: 3 3 + style debian stroke-width:1px,stroke-dasharray: 3 3 ``` ## How can I use this? +### Development + This works best if you follow the [`ros2_workspace_template`](https://github.com/lcas/ros2_pkg_template), use this as a template to build your own repositories, that contain the packages you want to ship. You can work either inside the devcontainer or by running the container yourself, and then when you are ready start by enabling the deployment workflows and adding automated testing. Then once you're happy move this onto a real robot platform - and keep iterating till it works! @@ -64,4 +63,10 @@ flowchart LR class Iter loop; ``` +### Deployment + +The general concept is that we take the `vnc` container image and deploy that only once[^vnc-plural], allowing to remove the bulk of having all the tools for a display inside every container. + +[^vnc-plural]: We may want to deploy this multiple times, i.e. to support multiple displays for monitoring, but this is a-typical. But either way we are deploying as few displays as possible meaning we have less resource requirements. + # From 3241674bdfcbb4a2b7cb9e3fd97e58027f25952a Mon Sep 17 00:00:00 2001 From: Josh Cooper Date: Tue, 24 Mar 2026 11:20:08 +0000 Subject: [PATCH 40/54] docs: update README.md From 86032250d3f9999c1d05ed1a7dac96dd85050286 Mon Sep 17 00:00:00 2001 From: Josh Cooper Date: Tue, 24 Mar 2026 12:00:46 +0000 Subject: [PATCH 41/54] docs: revise usage sections for ROS and VNC Updated sections in README to reflect ROS and VNC usage. --- README.md | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index 6f2a6f4..8dba90d 100644 --- a/README.md +++ b/README.md @@ -31,7 +31,7 @@ flowchart TB ## How can I use this? -### Development +### ROS This works best if you follow the [`ros2_workspace_template`](https://github.com/lcas/ros2_pkg_template), use this as a template to build your own repositories, that contain the packages you want to ship. @@ -63,7 +63,9 @@ flowchart LR class Iter loop; ``` -### Deployment +### VNC + +One of the components `vnc` is a X11 destination allowing for graphical applications to be displayed in a web browser, either on the robot or remotely. The general concept is that we take the `vnc` container image and deploy that only once[^vnc-plural], allowing to remove the bulk of having all the tools for a display inside every container. From 553e8107892eed1dbe3a8a82c9f42bcdc127b434 Mon Sep 17 00:00:00 2001 From: Marc Hanheide Date: Tue, 24 Mar 2026 14:11:43 +0000 Subject: [PATCH 42/54] feat: update Docker configuration to use base.dockerfile and add vgl.dockerfile for VirtualGL support --- base.dockerfile | 2 -- compose.yml | 2 +- vgl.dockerfile | 83 +++++++++++++++++++++++++++++++++++++++++++++++++ 3 files changed, 84 insertions(+), 3 deletions(-) create mode 100644 vgl.dockerfile diff --git a/base.dockerfile b/base.dockerfile index 9e0e146..2b7f3cb 100644 --- a/base.dockerfile +++ b/base.dockerfile @@ -50,8 +50,6 @@ RUN echo "if [ -f /etc/bash.bashrc ]; then source /etc/bash.bashrc; fi" >> /root echo "if [ -f /etc/bash.bashrc ]; then source /etc/bash.bashrc; fi" >> /home/${USERNAME}/.bashrc && \ echo 'PS1="${debian_chroot:+($debian_chroot)}\[\033[01;32m\]\u@\h\[\033[00m\]:\[\033[01;34m\]\w\[\033[00m\]\$ "' >> /etc/bash.bashrc && \ echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /etc/bash.bashrc && \ - echo "alias t='tmux'" >> /etc/bash.bashrc && \ - echo "alias cls='clear'" >> /etc/bash.bashrc && \ chown ${USERNAME}:${USER_GID} /home/${USERNAME}/.bashrc ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp diff --git a/compose.yml b/compose.yml index d456bb9..66502b2 100644 --- a/compose.yml +++ b/compose.yml @@ -33,7 +33,7 @@ services: ros: build: context: ./docker # contains cyclonedds.xml - dockerfile: ../cuda.dockerfile + dockerfile: ../base.dockerfile depends_on: vnc: condition: service_healthy # wait for VNC desktop to be ready before starting ROS diff --git a/vgl.dockerfile b/vgl.dockerfile new file mode 100644 index 0000000..c076965 --- /dev/null +++ b/vgl.dockerfile @@ -0,0 +1,83 @@ +ARG BASE_IMAGE=ros:humble + +########################################### +FROM ${BASE_IMAGE} AS base +ARG BASE_IMAGE + +ENV BASE_IMAGE=${BASE_IMAGE} + +ENV DEBIAN_FRONTEND=noninteractive + +RUN apt-get update \ + && apt-get upgrade -y \ + && apt-get install -y --no-install-recommends \ + locales \ + curl \ + wget \ + ca-certificates \ + gnupg2 \ + lsb-release \ + git \ + nano \ + python3-setuptools \ + software-properties-common \ + tzdata \ + && locale-gen en_US.UTF-8 \ + && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 \ + && rm -rf /var/lib/apt/lists/* + +ENV LANG=en_US.UTF-8 + +RUN apt-get update && apt-get install -y --no-install-recommends \ + ros-${ROS_DISTRO}-ros-base \ + python3-rosdep \ + ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \ + && rm -rf /var/lib/apt/lists/* + +# Cyclone DDS Config +COPY cyclonedds.xml /etc/cyclonedds.xml + +RUN . /opt/ros/${ROS_DISTRO}/setup.sh && rosdep update --rosdistro ${ROS_DISTRO} + +# Setup VirtualGL +RUN wget -q -O- https://packagecloud.io/dcommander/virtualgl/gpgkey | gpg --dearmor >/etc/apt/trusted.gpg.d/VirtualGL.gpg \ + && echo "deb [signed-by=/etc/apt/trusted.gpg.d/VirtualGL.gpg] https://packagecloud.io/dcommander/virtualgl/any/ any main" >>/etc/apt/sources.list.d/virtualgl.list \ + && apt-get update && apt-get install -y virtualgl libgl1 && rm -rf /var/lib/apt/lists/* + +# Create a non-root user +ARG USERNAME=ros +ARG USER_UID=1001 +ARG USER_GID=$USER_UID + +RUN groupadd --gid $USER_GID $USERNAME \ + && useradd -s /bin/bash --uid $USER_UID --gid $USER_GID -m $USERNAME \ + # Add sudo support for the non-root user\ + && apt-get update \ + && apt-get install -y --no-install-recommends sudo \ + && echo $USERNAME ALL=\(root\) NOPASSWD:ALL >/etc/sudoers.d/$USERNAME && chmod 0440 /etc/sudoers.d/$USERNAME \ + && rm -rf /var/lib/apt/lists/* + +# Configure bash profile +RUN echo "if [ -f /etc/bash.bashrc ]; then source /etc/bash.bashrc; fi" >> /root/.bashrc && \ + echo "if [ -f /etc/bash.bashrc ]; then source /etc/bash.bashrc; fi" >> /home/${USERNAME}/.bashrc && \ + chown ${USERNAME}:${USERNAME} /home/${USERNAME}/.bashrc && \ + echo 'PS1="${debian_chroot:+($debian_chroot)}\[\033[01;32m\]\u@\h\[\033[00m\]:\[\033[01;34m\]\w\[\033[00m\]\$ "' >> /etc/bash.bashrc && \ + echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /etc/bash.bashrc && \ + echo "alias t='tmux'" >> /etc/bash.bashrc && \ + echo "alias cls='clear'" >> /etc/bash.bashrc + +ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp +ENV CYCLONEDDS_URI=file:///etc/cyclonedds.xml +ENV TVNC_VGL=1 +ENV VGL_ISACTIVE=1 +ENV VGL_FPS=25 +ENV VGL_COMPRESS=0 +ENV VGL_DISPLAY=egl +ENV VGL_WM=1 +ENV VGL_PROBEGLX=0 +ENV LD_PRELOAD=/usr/lib/libdlfaker.so:/usr/lib/libvglfaker.so +ENV SHELL=/bin/bash + +USER ${USERNAME} + +CMD ["bash", "-l"] From fa5708ca3b64f34251ca0cb13029dadbda081dbd Mon Sep 17 00:00:00 2001 From: Josh Cooper Date: Wed, 25 Mar 2026 11:02:50 +0000 Subject: [PATCH 43/54] refactor: remove unused VNC devtools and Cyclone DDS configuration; enhance Dockerfiles for VirtualGL support; remove users from ROS containers --- .github/workflows/docker-build-and-push.yaml | 10 --- base.dockerfile | 36 ++++----- compose.gpu.yml | 4 + cuda.dockerfile | 25 +----- cuda_desktop.dockerfile | 4 +- docker/cyclonedds.xml | 10 --- vgl.dockerfile | 83 -------------------- vnc_devtools.dockerfile | 20 ----- 8 files changed, 23 insertions(+), 169 deletions(-) delete mode 100644 docker/cyclonedds.xml delete mode 100644 vgl.dockerfile delete mode 100644 vnc_devtools.dockerfile diff --git a/.github/workflows/docker-build-and-push.yaml b/.github/workflows/docker-build-and-push.yaml index ae19422..0b238fd 100644 --- a/.github/workflows/docker-build-and-push.yaml +++ b/.github/workflows/docker-build-and-push.yaml @@ -60,16 +60,6 @@ jobs: secrets: inherit # ── Level 1: base_image is the exact digest from level 0 ───────────────── - vnc-devtools: - needs: vnc - uses: ./.github/workflows/_build-image.yaml - with: - base_image: lcas.lincoln.ac.uk/vnc@${{ needs.vnc.outputs.digest }} - push_image: vnc_devtools - dockerfile: vnc_devtools.dockerfile - architectures: linux/amd64,linux/arm64 - secrets: inherit - ros-cuda-desktop-humble: needs: ros-cuda-humble uses: ./.github/workflows/_build-ros-image.yaml diff --git a/base.dockerfile b/base.dockerfile index 2b7f3cb..64a11d9 100644 --- a/base.dockerfile +++ b/base.dockerfile @@ -21,6 +21,7 @@ RUN apt-get update \ curl \ wget \ unzip \ + nano \ ros-${ROS_DISTRO}-ros-base \ ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \ python3-colcon-common-extensions \ @@ -28,32 +29,27 @@ RUN apt-get update \ ENV LANG=en_US.UTF-8 -RUN . /opt/ros/${ROS_DISTRO}/setup.sh && rosdep update +RUN . /opt/ros/${ROS_DISTRO}/setup.sh && rosdep update --rosdistro ${ROS_DISTRO} -ARG USERNAME=ros -ARG USER_UID=1001 -ARG USER_GID=$USER_UID - -# Create a non-root user and add sudo support for the non-root user -RUN groupadd --gid $USER_GID $USERNAME \ - && useradd -s /bin/bash --uid $USER_UID --gid $USER_GID -m $USERNAME \ - && apt-get update \ - && apt-get install -y --no-install-recommends sudo \ - && echo $USERNAME ALL=\(root\) NOPASSWD:ALL >/etc/sudoers.d/$USERNAME && chmod 0440 /etc/sudoers.d/$USERNAME \ - && rm -rf /var/lib/apt/lists/* - -# Cyclone DDS Config -COPY cyclonedds.xml /etc/cyclonedds.xml +# Setup VirtualGL +RUN wget -q -O- https://packagecloud.io/dcommander/virtualgl/gpgkey | gpg --dearmor >/etc/apt/trusted.gpg.d/VirtualGL.gpg \ + && echo "deb [signed-by=/etc/apt/trusted.gpg.d/VirtualGL.gpg] https://packagecloud.io/dcommander/virtualgl/any/ any main" >>/etc/apt/sources.list.d/virtualgl.list \ + && apt-get update && apt-get install -y virtualgl libgl1 && rm -rf /var/lib/apt/lists/* # Configure bash profile RUN echo "if [ -f /etc/bash.bashrc ]; then source /etc/bash.bashrc; fi" >> /root/.bashrc && \ - echo "if [ -f /etc/bash.bashrc ]; then source /etc/bash.bashrc; fi" >> /home/${USERNAME}/.bashrc && \ echo 'PS1="${debian_chroot:+($debian_chroot)}\[\033[01;32m\]\u@\h\[\033[00m\]:\[\033[01;34m\]\w\[\033[00m\]\$ "' >> /etc/bash.bashrc && \ - echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /etc/bash.bashrc && \ - chown ${USERNAME}:${USER_GID} /home/${USERNAME}/.bashrc + echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /etc/bash.bashrc ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp -ENV CYCLONEDDS_URI=file:///etc/cyclonedds.xml +ENV TVNC_VGL=1 +ENV VGL_ISACTIVE=1 +ENV VGL_FPS=25 +ENV VGL_COMPRESS=0 +ENV VGL_DISPLAY=egl +ENV VGL_WM=1 +ENV VGL_PROBEGLX=0 +ENV LD_PRELOAD=/usr/lib/libdlfaker.so:/usr/lib/libvglfaker.so +ENV SHELL=/bin/bash -USER ${USERNAME} CMD ["bash", "-l"] diff --git a/compose.gpu.yml b/compose.gpu.yml index 25db4fe..fd45a58 100644 --- a/compose.gpu.yml +++ b/compose.gpu.yml @@ -6,6 +6,8 @@ services: vnc: + devices: + - /dev/dri:/dev/dri # passes all card* and renderD* nodes deploy: resources: reservations: @@ -15,6 +17,8 @@ services: capabilities: [gpu, utility, video, graphics] ros: + devices: + - /dev/dri:/dev/dri # passes all card* and renderD* nodes deploy: resources: reservations: diff --git a/cuda.dockerfile b/cuda.dockerfile index 6f963a8..74977c2 100644 --- a/cuda.dockerfile +++ b/cuda.dockerfile @@ -42,9 +42,6 @@ RUN apt-get update && apt-get install -y --no-install-recommends \ ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \ && rm -rf /var/lib/apt/lists/* -# Cyclone DDS Config -COPY cyclonedds.xml /etc/cyclonedds.xml - RUN . /opt/ros/${ROS_DISTRO}/setup.sh && rosdep init && rosdep update # Setup VirtualGL @@ -52,30 +49,12 @@ RUN wget -q -O- https://packagecloud.io/dcommander/virtualgl/gpgkey | gpg --dear && echo "deb [signed-by=/etc/apt/trusted.gpg.d/VirtualGL.gpg] https://packagecloud.io/dcommander/virtualgl/any/ any main" >>/etc/apt/sources.list.d/virtualgl.list \ && apt-get update && apt-get install -y virtualgl libgl1 && rm -rf /var/lib/apt/lists/* -# Create a non-root user -ARG USERNAME=ros -ARG USER_UID=1001 -ARG USER_GID=$USER_UID - -RUN groupadd --gid $USER_GID $USERNAME \ - && useradd -s /bin/bash --uid $USER_UID --gid $USER_GID -m $USERNAME \ - # Add sudo support for the non-root user\ - && apt-get update \ - && apt-get install -y --no-install-recommends sudo \ - && echo $USERNAME ALL=\(root\) NOPASSWD:ALL >/etc/sudoers.d/$USERNAME && chmod 0440 /etc/sudoers.d/$USERNAME \ - && rm -rf /var/lib/apt/lists/* - # Configure bash profile RUN echo "if [ -f /etc/bash.bashrc ]; then source /etc/bash.bashrc; fi" >> /root/.bashrc && \ - echo "if [ -f /etc/bash.bashrc ]; then source /etc/bash.bashrc; fi" >> /home/${USERNAME}/.bashrc && \ - chown ${USERNAME}:${USERNAME} /home/${USERNAME}/.bashrc && \ echo 'PS1="${debian_chroot:+($debian_chroot)}\[\033[01;32m\]\u@\h\[\033[00m\]:\[\033[01;34m\]\w\[\033[00m\]\$ "' >> /etc/bash.bashrc && \ - echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /etc/bash.bashrc && \ - echo "alias t='tmux'" >> /etc/bash.bashrc && \ - echo "alias cls='clear'" >> /etc/bash.bashrc + echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /etc/bash.bashrc ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp -ENV CYCLONEDDS_URI=file:///etc/cyclonedds.xml ENV TVNC_VGL=1 ENV VGL_ISACTIVE=1 ENV VGL_FPS=25 @@ -86,6 +65,4 @@ ENV VGL_PROBEGLX=0 ENV LD_PRELOAD=/usr/lib/libdlfaker.so:/usr/lib/libvglfaker.so ENV SHELL=/bin/bash -USER ${USERNAME} - CMD ["bash", "-l"] diff --git a/cuda_desktop.dockerfile b/cuda_desktop.dockerfile index 12dd340..7e4aa79 100644 --- a/cuda_desktop.dockerfile +++ b/cuda_desktop.dockerfile @@ -2,6 +2,6 @@ ARG BASE_IMAGE=lcas.lincoln.ac.uk/ros_cuda:humble-main FROM ${BASE_IMAGE} AS base -RUN sudo apt-get update && sudo apt-get install -y --no-install-recommends \ +RUN apt-get update && apt-get install -y --no-install-recommends \ ros-${ROS_DISTRO}-desktop \ - && sudo rm -rf /var/lib/apt/lists/* + && rm -rf /var/lib/apt/lists/* diff --git a/docker/cyclonedds.xml b/docker/cyclonedds.xml deleted file mode 100644 index 82132ff..0000000 --- a/docker/cyclonedds.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - true - - - auto - - - \ No newline at end of file diff --git a/vgl.dockerfile b/vgl.dockerfile deleted file mode 100644 index c076965..0000000 --- a/vgl.dockerfile +++ /dev/null @@ -1,83 +0,0 @@ -ARG BASE_IMAGE=ros:humble - -########################################### -FROM ${BASE_IMAGE} AS base -ARG BASE_IMAGE - -ENV BASE_IMAGE=${BASE_IMAGE} - -ENV DEBIAN_FRONTEND=noninteractive - -RUN apt-get update \ - && apt-get upgrade -y \ - && apt-get install -y --no-install-recommends \ - locales \ - curl \ - wget \ - ca-certificates \ - gnupg2 \ - lsb-release \ - git \ - nano \ - python3-setuptools \ - software-properties-common \ - tzdata \ - && locale-gen en_US.UTF-8 \ - && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 \ - && rm -rf /var/lib/apt/lists/* - -ENV LANG=en_US.UTF-8 - -RUN apt-get update && apt-get install -y --no-install-recommends \ - ros-${ROS_DISTRO}-ros-base \ - python3-rosdep \ - ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \ - && rm -rf /var/lib/apt/lists/* - -# Cyclone DDS Config -COPY cyclonedds.xml /etc/cyclonedds.xml - -RUN . /opt/ros/${ROS_DISTRO}/setup.sh && rosdep update --rosdistro ${ROS_DISTRO} - -# Setup VirtualGL -RUN wget -q -O- https://packagecloud.io/dcommander/virtualgl/gpgkey | gpg --dearmor >/etc/apt/trusted.gpg.d/VirtualGL.gpg \ - && echo "deb [signed-by=/etc/apt/trusted.gpg.d/VirtualGL.gpg] https://packagecloud.io/dcommander/virtualgl/any/ any main" >>/etc/apt/sources.list.d/virtualgl.list \ - && apt-get update && apt-get install -y virtualgl libgl1 && rm -rf /var/lib/apt/lists/* - -# Create a non-root user -ARG USERNAME=ros -ARG USER_UID=1001 -ARG USER_GID=$USER_UID - -RUN groupadd --gid $USER_GID $USERNAME \ - && useradd -s /bin/bash --uid $USER_UID --gid $USER_GID -m $USERNAME \ - # Add sudo support for the non-root user\ - && apt-get update \ - && apt-get install -y --no-install-recommends sudo \ - && echo $USERNAME ALL=\(root\) NOPASSWD:ALL >/etc/sudoers.d/$USERNAME && chmod 0440 /etc/sudoers.d/$USERNAME \ - && rm -rf /var/lib/apt/lists/* - -# Configure bash profile -RUN echo "if [ -f /etc/bash.bashrc ]; then source /etc/bash.bashrc; fi" >> /root/.bashrc && \ - echo "if [ -f /etc/bash.bashrc ]; then source /etc/bash.bashrc; fi" >> /home/${USERNAME}/.bashrc && \ - chown ${USERNAME}:${USERNAME} /home/${USERNAME}/.bashrc && \ - echo 'PS1="${debian_chroot:+($debian_chroot)}\[\033[01;32m\]\u@\h\[\033[00m\]:\[\033[01;34m\]\w\[\033[00m\]\$ "' >> /etc/bash.bashrc && \ - echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /etc/bash.bashrc && \ - echo "alias t='tmux'" >> /etc/bash.bashrc && \ - echo "alias cls='clear'" >> /etc/bash.bashrc - -ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp -ENV CYCLONEDDS_URI=file:///etc/cyclonedds.xml -ENV TVNC_VGL=1 -ENV VGL_ISACTIVE=1 -ENV VGL_FPS=25 -ENV VGL_COMPRESS=0 -ENV VGL_DISPLAY=egl -ENV VGL_WM=1 -ENV VGL_PROBEGLX=0 -ENV LD_PRELOAD=/usr/lib/libdlfaker.so:/usr/lib/libvglfaker.so -ENV SHELL=/bin/bash - -USER ${USERNAME} - -CMD ["bash", "-l"] diff --git a/vnc_devtools.dockerfile b/vnc_devtools.dockerfile deleted file mode 100644 index 347a993..0000000 --- a/vnc_devtools.dockerfile +++ /dev/null @@ -1,20 +0,0 @@ -ARG BASE_IMAGE -FROM ${BASE_IMAGE} AS base -ARG username=lcas - -ARG DOCKER_GID=984 - -# Install Docker (for docker exec etc) -USER root -RUN apt-get update \ - && apt-get install -y ca-certificates curl \ - && install -m 0755 -d /etc/apt/keyrings \ - && curl -fsSL https://download.docker.com/linux/debian/gpg -o /etc/apt/keyrings/docker.asc \ - && echo "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/docker.asc] https://download.docker.com/linux/debian $(. /etc/os-release && echo $VERSION_CODENAME) stable" >/etc/apt/sources.list.d/docker.list \ - && apt-get update \ - && apt-get install -y docker-ce-cli konsole \ - && rm -rf /var/lib/apt/lists/* \ - && groupadd -g $DOCKER_GID docker \ - && usermod -aG docker ${username} - -USER ${username} From d4f1ad5290a9a1c93918610b06a489ea4bf6df6a Mon Sep 17 00:00:00 2001 From: Josh Cooper Date: Wed, 25 Mar 2026 11:29:22 +0000 Subject: [PATCH 44/54] fix: add nv egl vendor --- base.dockerfile | 29 ++++++++++++++++------------- docker/nvidia-egl-vendor.json | 6 ++++++ 2 files changed, 22 insertions(+), 13 deletions(-) create mode 100644 docker/nvidia-egl-vendor.json diff --git a/base.dockerfile b/base.dockerfile index 64a11d9..23a5189 100644 --- a/base.dockerfile +++ b/base.dockerfile @@ -13,18 +13,18 @@ ENV DEBIAN_FRONTEND=noninteractive RUN apt-get update \ && apt-get upgrade -y \ && apt-get install -y --no-install-recommends \ - build-essential \ - ca-certificates \ - gnupg \ - cmake \ - git \ - curl \ - wget \ - unzip \ - nano \ - ros-${ROS_DISTRO}-ros-base \ - ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \ - python3-colcon-common-extensions \ + build-essential \ + ca-certificates \ + gnupg \ + cmake \ + git \ + curl \ + wget \ + unzip \ + nano \ + ros-${ROS_DISTRO}-ros-base \ + ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \ + python3-colcon-common-extensions \ && rm -rf /var/lib/apt/lists/* ENV LANG=en_US.UTF-8 @@ -36,6 +36,9 @@ RUN wget -q -O- https://packagecloud.io/dcommander/virtualgl/gpgkey | gpg --dear && echo "deb [signed-by=/etc/apt/trusted.gpg.d/VirtualGL.gpg] https://packagecloud.io/dcommander/virtualgl/any/ any main" >>/etc/apt/sources.list.d/virtualgl.list \ && apt-get update && apt-get install -y virtualgl libgl1 && rm -rf /var/lib/apt/lists/* +# Fix GLVND NVIDIA EGL registration +COPY nvidia-egl-vendor.json /usr/share/glvnd/egl_vendor.d/10_nvidia.json + # Configure bash profile RUN echo "if [ -f /etc/bash.bashrc ]; then source /etc/bash.bashrc; fi" >> /root/.bashrc && \ echo 'PS1="${debian_chroot:+($debian_chroot)}\[\033[01;32m\]\u@\h\[\033[00m\]:\[\033[01;34m\]\w\[\033[00m\]\$ "' >> /etc/bash.bashrc && \ @@ -49,7 +52,7 @@ ENV VGL_COMPRESS=0 ENV VGL_DISPLAY=egl ENV VGL_WM=1 ENV VGL_PROBEGLX=0 -ENV LD_PRELOAD=/usr/lib/libdlfaker.so:/usr/lib/libvglfaker.so +ENV LD_PRELOAD=libdlfaker.so:libvglfaker.so ENV SHELL=/bin/bash CMD ["bash", "-l"] diff --git a/docker/nvidia-egl-vendor.json b/docker/nvidia-egl-vendor.json new file mode 100644 index 0000000..2eac23b --- /dev/null +++ b/docker/nvidia-egl-vendor.json @@ -0,0 +1,6 @@ +{ + "file_format_version" : "1.0.0", + "ICD" : { + "library_path" : "libEGL_nvidia.so.0" + } +} \ No newline at end of file From feb57935f98e8bf85ff81ccff0f14ba8e7ac5c88 Mon Sep 17 00:00:00 2001 From: Josh Cooper Date: Wed, 25 Mar 2026 11:43:54 +0000 Subject: [PATCH 45/54] fix: enhance allow for container internal process communication (ipc) between containers and not isolate or rely on the host for security benefits --- compose.yml | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) diff --git a/compose.yml b/compose.yml index 66502b2..95acdf0 100644 --- a/compose.yml +++ b/compose.yml @@ -18,11 +18,12 @@ services: dockerfile: ../vnc.dockerfile target: xfce ports: - - "5801" # noVNC web interface + - "5801" # noVNC web interface volumes: - x11:/tmp/.X11-unix # share X server socket with other containers networks: - ros_net + ipc: shareable # Allow other containers to access the IPC of the VNC container to allow data to go into it's X11 healthcheck: test: ["CMD", "curl", "-f", "http://localhost:5801/vnc.html"] interval: 10s @@ -32,15 +33,16 @@ services: # ── ROS Container ──────────────────────────────────────────────────────────── ros: build: - context: ./docker # contains cyclonedds.xml + context: ./docker # contains cyclonedds.xml dockerfile: ../base.dockerfile depends_on: vnc: condition: service_healthy # wait for VNC desktop to be ready before starting ROS environment: - DISPLAY: ":1" # connect to the VNC X server + DISPLAY: ":1" # connect to the VNC X server volumes: - - x11:/tmp/.X11-unix # X11 socket shared from VNC container + - x11:/tmp/.X11-unix # X11 socket shared from VNC container + ipc: "service:vnc" # Use the IPC of the VNC container to allow access to X11 socket reliably networks: - ros_net command: ["sleep", "infinity"] From bc9e0bcc515d322f2aa2b8e558975dd606eeec90 Mon Sep 17 00:00:00 2001 From: Josh Cooper Date: Wed, 25 Mar 2026 12:42:15 +0000 Subject: [PATCH 46/54] feat: improve the cuda container, remove vgl from vnc * implement changes made to `base` into `cuda` container * add `compose.cuda.yml` file for testing that `cuda` configuration. * remove VirtualGL from VNC container as this is not needed and will just add bulk * run dockerfmt to tidy up the dockerfiles --- base.dockerfile | 24 ++++++++++----------- compose.cuda.yml | 56 ++++++++++++++++++++++++++++++++++++++++++++++++ cuda.dockerfile | 9 +++++--- vnc.dockerfile | 23 +------------------- 4 files changed, 75 insertions(+), 37 deletions(-) create mode 100644 compose.cuda.yml diff --git a/base.dockerfile b/base.dockerfile index 23a5189..974acb7 100644 --- a/base.dockerfile +++ b/base.dockerfile @@ -13,18 +13,18 @@ ENV DEBIAN_FRONTEND=noninteractive RUN apt-get update \ && apt-get upgrade -y \ && apt-get install -y --no-install-recommends \ - build-essential \ - ca-certificates \ - gnupg \ - cmake \ - git \ - curl \ - wget \ - unzip \ - nano \ - ros-${ROS_DISTRO}-ros-base \ - ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \ - python3-colcon-common-extensions \ + build-essential \ + ca-certificates \ + gnupg \ + cmake \ + git \ + curl \ + wget \ + unzip \ + nano \ + ros-${ROS_DISTRO}-ros-base \ + ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \ + python3-colcon-common-extensions \ && rm -rf /var/lib/apt/lists/* ENV LANG=en_US.UTF-8 diff --git a/compose.cuda.yml b/compose.cuda.yml new file mode 100644 index 0000000..6942181 --- /dev/null +++ b/compose.cuda.yml @@ -0,0 +1,56 @@ +# Docker Compose illustrating a VNC desktop container alongside a ROS container. +# The ROS container renders GUI applications (e.g. RViz) through the VNC desktop +# by sharing the X11 socket. Both services are on the same bridge network so +# CycloneDDS peer discovery works out of the box. +# +# Usage: +# No GPU: docker compose up +# With GPU: docker compose -f compose.cuda.yml -f compose.gpu.yml up +# +# Access the desktop at: http://localhost:5801/vnc.html?autoconnect=true + +services: + + # ── VNC Desktop ────────────────────────────────────────────────────────────── + vnc: + build: + context: ./docker # contains vnc-entrypoint.sh + dockerfile: ../vnc.dockerfile + target: xfce + ports: + - "5801" # noVNC web interface + volumes: + - x11:/tmp/.X11-unix # share X server socket with other containers + networks: + - ros_net + ipc: shareable # Allow other containers to access the IPC of the VNC container to allow data to go into it's X11 + healthcheck: + test: ["CMD", "curl", "-f", "http://localhost:5801/vnc.html"] + interval: 10s + timeout: 5s + retries: 5 + + # ── ROS Container ──────────────────────────────────────────────────────────── + ros: + build: + context: ./docker # contains cyclonedds.xml + dockerfile: ../cuda.dockerfile + depends_on: + vnc: + condition: service_healthy # wait for VNC desktop to be ready before starting ROS + environment: + DISPLAY: ":1" # connect to the VNC X server + volumes: + - x11:/tmp/.X11-unix # X11 socket shared from VNC container + ipc: "service:vnc" # Use the IPC of the VNC container to allow access to X11 socket reliably + networks: + - ros_net + command: ["sleep", "infinity"] + +# ── Shared resources ─────────────────────────────────────────────────────────── +volumes: + x11: # ephemeral volume for the X11 unix socket + +networks: + ros_net: + driver: bridge # CycloneDDS multicast works within a bridge network diff --git a/cuda.dockerfile b/cuda.dockerfile index 74977c2..6a37e79 100644 --- a/cuda.dockerfile +++ b/cuda.dockerfile @@ -49,10 +49,13 @@ RUN wget -q -O- https://packagecloud.io/dcommander/virtualgl/gpgkey | gpg --dear && echo "deb [signed-by=/etc/apt/trusted.gpg.d/VirtualGL.gpg] https://packagecloud.io/dcommander/virtualgl/any/ any main" >>/etc/apt/sources.list.d/virtualgl.list \ && apt-get update && apt-get install -y virtualgl libgl1 && rm -rf /var/lib/apt/lists/* +# Fix GLVND NVIDIA EGL registration +COPY nvidia-egl-vendor.json /usr/share/glvnd/egl_vendor.d/10_nvidia.json + # Configure bash profile RUN echo "if [ -f /etc/bash.bashrc ]; then source /etc/bash.bashrc; fi" >> /root/.bashrc && \ - echo 'PS1="${debian_chroot:+($debian_chroot)}\[\033[01;32m\]\u@\h\[\033[00m\]:\[\033[01;34m\]\w\[\033[00m\]\$ "' >> /etc/bash.bashrc && \ - echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /etc/bash.bashrc + echo 'PS1="${debian_chroot:+($debian_chroot)}\[\033[01;32m\]\u@\h\[\033[00m\]:\[\033[01;34m\]\w\[\033[00m\]\$ "' >> /etc/bash.bashrc && \ + echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /etc/bash.bashrc ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp ENV TVNC_VGL=1 @@ -62,7 +65,7 @@ ENV VGL_COMPRESS=0 ENV VGL_DISPLAY=egl ENV VGL_WM=1 ENV VGL_PROBEGLX=0 -ENV LD_PRELOAD=/usr/lib/libdlfaker.so:/usr/lib/libvglfaker.so +ENV LD_PRELOAD=libdlfaker.so:libvglfaker.so ENV SHELL=/bin/bash CMD ["bash", "-l"] diff --git a/vnc.dockerfile b/vnc.dockerfile index 3fe89d6..bbfc802 100644 --- a/vnc.dockerfile +++ b/vnc.dockerfile @@ -48,20 +48,6 @@ RUN useradd -m -s /bin/bash -G video,sudo ${username} \ RUN mkdir -p /tmp/.X11-unix \ && chmod 1777 /tmp/.X11-unix -# Install VirtualGL -RUN wget -q -O- https://packagecloud.io/dcommander/virtualgl/gpgkey | gpg --dearmor >/etc/apt/trusted.gpg.d/VirtualGL.gpg \ - && echo "deb [signed-by=/etc/apt/trusted.gpg.d/VirtualGL.gpg] https://packagecloud.io/dcommander/virtualgl/any/ any main" >>/etc/apt/sources.list.d/virtualgl.list \ - && apt-get update && apt-get install -y virtualgl libgl1 && rm -rf /var/lib/apt/lists/* - -COPY < Date: Wed, 25 Mar 2026 18:48:29 +0000 Subject: [PATCH 47/54] feat: update Docker workflows for improved image builds * started work on moving ros building to a matrix rather than seperate steps as discused with Marc. * Simplified the build steps for non ros enabled images (i.e. for the vnc container) --- .github/workflows/_build-image.yaml | 12 +- .github/workflows/_build-ros-image.yaml | 82 ------------- .github/workflows/build-ros-image.yaml | 115 +++++++++++++++++ .github/workflows/docker-build-and-push.yaml | 123 ++++++++++--------- README.md | 3 +- 5 files changed, 186 insertions(+), 149 deletions(-) delete mode 100644 .github/workflows/_build-ros-image.yaml create mode 100644 .github/workflows/build-ros-image.yaml diff --git a/.github/workflows/_build-image.yaml b/.github/workflows/_build-image.yaml index c299723..852ffa4 100644 --- a/.github/workflows/_build-image.yaml +++ b/.github/workflows/_build-image.yaml @@ -33,11 +33,9 @@ jobs: outputs: digest: ${{ steps.build.outputs.digest }} steps: - - uses: actions/setup-node@v4 - - uses: actions/checkout@v3 - - run: echo "BRANCH=${GITHUB_REF##*/}" >> $GITHUB_ENV + - uses: actions/checkout@v6 - - uses: docker/login-action@v3 + - uses: docker/login-action@v4 with: registry: lcas.lincoln.ac.uk username: ${{ secrets.LCAS_REGISTRY_PUSHER }} @@ -48,7 +46,7 @@ jobs: - name: Docker meta id: meta - uses: docker/metadata-action@v5 + uses: docker/metadata-action@v6 with: flavor: latest=false labels: | @@ -59,11 +57,11 @@ jobs: type=raw,value=staging type=raw,enable=${{ github.event_name != 'pull_request' }},value=latest - - uses: docker/setup-buildx-action@v3 + - uses: docker/setup-buildx-action@v4 - name: Build and push id: build - uses: docker/build-push-action@v6 + uses: docker/build-push-action@v7 with: context: ./docker file: ./${{ inputs.dockerfile }} diff --git a/.github/workflows/_build-ros-image.yaml b/.github/workflows/_build-ros-image.yaml deleted file mode 100644 index e7dd931..0000000 --- a/.github/workflows/_build-ros-image.yaml +++ /dev/null @@ -1,82 +0,0 @@ -name: Build a single ROS Docker image (reusable) - -on: - workflow_call: - inputs: - base_image: - description: The FROM base image - required: true - type: string - push_image: - description: Image name on the LCAS registry - required: true - type: string - ros_distro: - required: true - type: string - dockerfile: - required: true - type: string - architectures: - required: true - type: string - outputs: - digest: - description: Image digest from the build - value: ${{ jobs.build.outputs.digest }} - secrets: - LCAS_REGISTRY_PUSHER: - required: true - LCAS_REGISTRY_TOKEN: - required: true - -jobs: - build: - runs-on: [lcas, qemu] - outputs: - digest: ${{ steps.build.outputs.digest }} - steps: - - uses: actions/setup-node@v4 - - uses: actions/checkout@v3 - - run: echo "BRANCH=${GITHUB_REF##*/}" >> $GITHUB_ENV - - - uses: docker/login-action@v3 - with: - registry: lcas.lincoln.ac.uk - username: ${{ secrets.LCAS_REGISTRY_PUSHER }} - password: ${{ secrets.LCAS_REGISTRY_TOKEN }} - - - name: Docker meta - id: meta - uses: docker/metadata-action@v5 - with: - flavor: latest=false - labels: | - org.opencontainers.image.description=AOC Docker Image (${{ inputs.push_image }}, ${{ inputs.ros_distro }}) - org.opencontainers.image.authors=L-CAS Team - images: lcas.lincoln.ac.uk/${{ inputs.push_image }} - tags: | - type=raw,value=${{ inputs.ros_distro }}-staging - type=raw,enable=${{ github.event_name != 'pull_request' }},value=${{ inputs.ros_distro }}-latest - type=ref,enable=${{ github.event_name != 'pull_request' }},event=branch,prefix=${{ inputs.ros_distro }}- - type=semver,pattern={{version}},prefix=${{ inputs.ros_distro }}- - type=semver,pattern={{major}}.{{minor}},prefix=${{ inputs.ros_distro }}- - type=semver,pattern={{major}},prefix=${{ inputs.ros_distro }}- - - - uses: docker/setup-buildx-action@v3 - - - name: Build and push - id: build - uses: docker/build-push-action@v6 - with: - context: ./docker - file: ./${{ inputs.dockerfile }} - platforms: ${{ inputs.architectures }} - push: true - cache-from: type=registry,ref=lcas.lincoln.ac.uk/cache/${{ inputs.push_image }}:${{ inputs.ros_distro }} - cache-to: type=registry,ref=lcas.lincoln.ac.uk/cache/${{ inputs.push_image }}:${{ inputs.ros_distro }},mode=max - tags: ${{ steps.meta.outputs.tags }} - labels: ${{ steps.meta.outputs.labels }} - build-args: | - BASE_IMAGE=${{ inputs.base_image }} - ROS_DISTRO=${{ inputs.ros_distro }} diff --git a/.github/workflows/build-ros-image.yaml b/.github/workflows/build-ros-image.yaml new file mode 100644 index 0000000..783cac2 --- /dev/null +++ b/.github/workflows/build-ros-image.yaml @@ -0,0 +1,115 @@ +name: Build a ROS Container Images + +on: + push: + branches: [ main ] + tags: [ '*' ] + pull_request: + branches: [ main ] + workflow_dispatch: + +concurrency: + group: ${{ github.workflow }}-${{ github.ref }} + cancel-in-progress: true + +jobs: + build: + strategy: + matrix: + include: + # ROS Humble + - base_image: "ros:humble" + push_image: "ros" + ros_distro: "humble" + dockerfile: "base.dockerfile" + architectures: "linux/amd64,linux/arm64" + + # ROS Jazzy + - base_image: "ros:jazzy" + push_image: "ros" + ros_distro: "jazzy" + dockerfile: "base.dockerfile" + architectures: "linux/amd64,linux/arm64" + + # --- + + # ROS CUDA Humble + - base_image: "nvidia/cuda:11.8.0-runtime-ubuntu22.04" + push_image: "ros_cuda" + ros_distro: "humble" + dockerfile: "cuda.dockerfile" + architectures: "linux/amd64" + + # ROS CUDA Jazzy + - base_image: "nvidia/cuda:12.9.1-runtime-ubuntu24.04" + push_image: "ros_cuda" + ros_distro: "jazzy" + dockerfile: "cuda.dockerfile" + architectures: "linux/amd64" + + # -- + + # The following section is currently broken and I want to see if the other steps build first so we are doing it one commit at a time! + + # # ROS CUDA Humble Desktop + # - base_image: lcas.lincoln.ac.uk/ros_cuda@${{ needs.ros-cuda-humble.outputs.digest }} + # push_image: "ros" + # ros_distro: "humble" + # dockerfile: "base.dockerfile" + # architectures: "linux/amd64,linux/arm64" + + # # ROS CUDA Jazzy Desktop + # - base_image: lcas.lincoln.ac.uk/ros_cuda@${{ needs.ros-cuda-jazzy.outputs.digest }} + # push_image: "ros" + # ros_distro: "humble" + # dockerfile: "base.dockerfile" + # architectures: "linux/amd64,linux/arm64" + + runs-on: [lcas, qemu] + + outputs: + digest: ${{ steps.build.outputs.digest }} + + steps: + - uses: actions/checkout@v6 + + - uses: docker/login-action@v4 + with: + registry: lcas.lincoln.ac.uk + username: ${{ secrets.LCAS_REGISTRY_PUSHER }} + password: ${{ secrets.LCAS_REGISTRY_TOKEN }} + + - name: Docker meta + id: meta + uses: docker/metadata-action@v6 + with: + flavor: latest=false + labels: | + org.opencontainers.image.description=AOC Docker Image (${{ inputs.push_image }}, ${{ inputs.ros_distro }}) + org.opencontainers.image.authors=L-CAS Team + images: lcas.lincoln.ac.uk/${{ inputs.push_image }} + tags: | + type=raw,value=${{ inputs.ros_distro }}-staging + type=raw,enable=${{ github.event_name != 'pull_request' }},value=${{ inputs.ros_distro }}-latest + type=ref,enable=${{ github.event_name != 'pull_request' }},event=branch,prefix=${{ inputs.ros_distro }}- + type=semver,pattern={{version}},prefix=${{ inputs.ros_distro }}- + type=semver,pattern={{major}}.{{minor}},prefix=${{ inputs.ros_distro }}- + type=semver,pattern={{major}},prefix=${{ inputs.ros_distro }}- + + - uses: docker/setup-buildx-action@v4 + + - name: Build and push + id: build + uses: docker/build-push-action@v7 + with: + context: ./docker + file: ./${{ inputs.dockerfile }} + platforms: ${{ inputs.architectures }} + push: true + cache-from: type=registry,ref=lcas.lincoln.ac.uk/cache/${{ inputs.push_image }}:${{ inputs.ros_distro }} + cache-to: type=registry,ref=lcas.lincoln.ac.uk/cache/${{ inputs.push_image }}:${{ inputs.ros_distro }},mode=max + tags: ${{ steps.meta.outputs.tags }} + labels: ${{ steps.meta.outputs.labels }} + build-args: | + BASE_IMAGE=${{ inputs.base_image }} + ROS_DISTRO=${{ inputs.ros_distro }} diff --git a/.github/workflows/docker-build-and-push.yaml b/.github/workflows/docker-build-and-push.yaml index 0b238fd..7bb26c9 100644 --- a/.github/workflows/docker-build-and-push.yaml +++ b/.github/workflows/docker-build-and-push.yaml @@ -8,8 +8,12 @@ on: branches: [ main ] workflow_dispatch: +concurrency: + group: ${{ github.workflow }}-${{ github.ref }} + cancel-in-progress: true + jobs: - # ── Level 0: no dependencies ────────────────────────────────────────────── + ## VNC, Standalone Docker Image - NOT ROS vnc: uses: ./.github/workflows/_build-image.yaml with: @@ -19,66 +23,67 @@ jobs: architectures: linux/amd64,linux/arm64 secrets: inherit - ros-humble: - uses: ./.github/workflows/_build-ros-image.yaml - with: - base_image: ros:humble - push_image: ros - ros_distro: humble - dockerfile: base.dockerfile - architectures: linux/amd64,linux/arm64 - secrets: inherit + # # ── Level 0: no dependencies ────────────────────────────────────────────── + # ros-humble: + # uses: ./.github/workflows/_build-ros-image.yaml + # with: + # base_image: ros:humble + # push_image: ros + # ros_distro: humble + # dockerfile: base.dockerfile + # architectures: linux/amd64,linux/arm64 + # secrets: inherit - ros-jazzy: - uses: ./.github/workflows/_build-ros-image.yaml - with: - base_image: ros:jazzy - push_image: ros - ros_distro: jazzy - dockerfile: base.dockerfile - architectures: linux/amd64,linux/arm64 - secrets: inherit + # ros-jazzy: + # uses: ./.github/workflows/_build-ros-image.yaml + # with: + # base_image: ros:jazzy + # push_image: ros + # ros_distro: jazzy + # dockerfile: base.dockerfile + # architectures: linux/amd64,linux/arm64 + # secrets: inherit - ros-cuda-humble: - uses: ./.github/workflows/_build-ros-image.yaml - with: - base_image: nvidia/cuda:11.8.0-runtime-ubuntu22.04 - push_image: ros_cuda - ros_distro: humble - dockerfile: cuda.dockerfile - architectures: linux/amd64 - secrets: inherit + # ros-cuda-humble: + # uses: ./.github/workflows/_build-ros-image.yaml + # with: + # base_image: nvidia/cuda:11.8.0-runtime-ubuntu22.04 + # push_image: ros_cuda + # ros_distro: humble + # dockerfile: cuda.dockerfile + # architectures: linux/amd64 + # secrets: inherit - ros-cuda-jazzy: - uses: ./.github/workflows/_build-ros-image.yaml - with: - base_image: nvidia/cuda:12.9.1-runtime-ubuntu24.04 - push_image: ros_cuda - ros_distro: jazzy - dockerfile: cuda.dockerfile - architectures: linux/amd64 - secrets: inherit + # ros-cuda-jazzy: + # uses: ./.github/workflows/_build-ros-image.yaml + # with: + # base_image: nvidia/cuda:12.9.1-runtime-ubuntu24.04 + # push_image: ros_cuda + # ros_distro: jazzy + # dockerfile: cuda.dockerfile + # architectures: linux/amd64 + # secrets: inherit - # ── Level 1: base_image is the exact digest from level 0 ───────────────── - ros-cuda-desktop-humble: - needs: ros-cuda-humble - uses: ./.github/workflows/_build-ros-image.yaml - with: - # Digest is immutable — no staging tag, no race condition, no cleanup - base_image: lcas.lincoln.ac.uk/ros_cuda@${{ needs.ros-cuda-humble.outputs.digest }} - push_image: ros_cuda_desktop - ros_distro: humble - dockerfile: cuda_desktop.dockerfile - architectures: linux/amd64 - secrets: inherit + # # ── Level 1: base_image is the exact digest from level 0 ───────────────── + # ros-cuda-desktop-humble: + # needs: ros-cuda-humble + # uses: ./.github/workflows/_build-ros-image.yaml + # with: + # # Digest is immutable — no staging tag, no race condition, no cleanup + # base_image: lcas.lincoln.ac.uk/ros_cuda@${{ needs.ros-cuda-humble.outputs.digest }} + # push_image: ros_cuda_desktop + # ros_distro: humble + # dockerfile: cuda_desktop.dockerfile + # architectures: linux/amd64 + # secrets: inherit - ros-cuda-desktop-jazzy: - needs: ros-cuda-jazzy - uses: ./.github/workflows/_build-ros-image.yaml - with: - base_image: lcas.lincoln.ac.uk/ros_cuda@${{ needs.ros-cuda-jazzy.outputs.digest }} - push_image: ros_cuda_desktop - ros_distro: jazzy - dockerfile: cuda_desktop.dockerfile - architectures: linux/amd64 - secrets: inherit + # ros-cuda-desktop-jazzy: + # needs: ros-cuda-jazzy + # uses: ./.github/workflows/_build-ros-image.yaml + # with: + # base_image: lcas.lincoln.ac.uk/ros_cuda@${{ needs.ros-cuda-jazzy.outputs.digest }} + # push_image: ros_cuda_desktop + # ros_distro: jazzy + # dockerfile: cuda_desktop.dockerfile + # architectures: linux/amd64 + # secrets: inherit diff --git a/README.md b/README.md index 8dba90d..ddb3344 100644 --- a/README.md +++ b/README.md @@ -10,7 +10,6 @@ This repository manages the following containers: | `lcas.lincoln.ac.uk/ros_cuda` | `humble` `jazzy` | ROS + Nvidia. When you need to use a GPU in your ROS environment for either better quality simulation or AI workloads. | [cuda.dockerfile](cuda.dockerfile) | | `lcas.lincoln.ac.uk/ros_cuda_desktop` | `humble` `jazzy` | ROS + Nvidia + Packages. Installs the `ros-{distro}-desktop` varient so there is the full ROS stack available. | [cuda_desktop.dockerfile](cuda_desktop.dockerfile) | | `lcas.lincoln.ac.uk/vnc` | `latest` | Standalone VNC container that can take X11 visualisations and show them in a browser. | [vnc.dockerfile](vnc.dockerfile) | -| `lcas.lincoln.ac.uk/vnc_devtools` | `latest` | Adds development tools such as a terminal for the standard VNC environment. | [vnc_devtools.dockerfile](vnc_devtools.dockerfile) | These containers are built from three standard container images, `ros`, `nvidia/cuda` and `debian`. Each container is either built from one of these pre-existing images or one derrived from it in this pattern. @@ -72,3 +71,5 @@ The general concept is that we take the `vnc` container image and deploy that on [^vnc-plural]: We may want to deploy this multiple times, i.e. to support multiple displays for monitoring, but this is a-typical. But either way we are deploying as few displays as possible meaning we have less resource requirements. # + +Lincoln Centre for Autonomous Systems Research \ No newline at end of file From 1cdcbb21ab3324505fa2ed6aa759d5e9d61b6211 Mon Sep 17 00:00:00 2001 From: Josh Cooper Date: Wed, 25 Mar 2026 18:54:18 +0000 Subject: [PATCH 48/54] fix: swapped from inputs to matrix target --- .github/workflows/build-ros-image.yaml | 28 +++++++++++++------------- 1 file changed, 14 insertions(+), 14 deletions(-) diff --git a/.github/workflows/build-ros-image.yaml b/.github/workflows/build-ros-image.yaml index 783cac2..31e8432 100644 --- a/.github/workflows/build-ros-image.yaml +++ b/.github/workflows/build-ros-image.yaml @@ -85,16 +85,16 @@ jobs: with: flavor: latest=false labels: | - org.opencontainers.image.description=AOC Docker Image (${{ inputs.push_image }}, ${{ inputs.ros_distro }}) + org.opencontainers.image.description=AOC Docker Image (${{ matrix.push_image }}, ${{ matrix.ros_distro }}) org.opencontainers.image.authors=L-CAS Team - images: lcas.lincoln.ac.uk/${{ inputs.push_image }} + images: lcas.lincoln.ac.uk/${{ matrix.push_image }} tags: | - type=raw,value=${{ inputs.ros_distro }}-staging - type=raw,enable=${{ github.event_name != 'pull_request' }},value=${{ inputs.ros_distro }}-latest - type=ref,enable=${{ github.event_name != 'pull_request' }},event=branch,prefix=${{ inputs.ros_distro }}- - type=semver,pattern={{version}},prefix=${{ inputs.ros_distro }}- - type=semver,pattern={{major}}.{{minor}},prefix=${{ inputs.ros_distro }}- - type=semver,pattern={{major}},prefix=${{ inputs.ros_distro }}- + type=raw,value=${{ matrix.ros_distro }}-staging + type=raw,enable=${{ github.event_name != 'pull_request' }},value=${{ matrix.ros_distro }}-latest + type=ref,enable=${{ github.event_name != 'pull_request' }},event=branch,prefix=${{ matrix.ros_distro }}- + type=semver,pattern={{version}},prefix=${{ matrix.ros_distro }}- + type=semver,pattern={{major}}.{{minor}},prefix=${{ matrix.ros_distro }}- + type=semver,pattern={{major}},prefix=${{ matrix.ros_distro }}- - uses: docker/setup-buildx-action@v4 @@ -103,13 +103,13 @@ jobs: uses: docker/build-push-action@v7 with: context: ./docker - file: ./${{ inputs.dockerfile }} - platforms: ${{ inputs.architectures }} + file: ./${{ matrix.dockerfile }} + platforms: ${{ matrix.architectures }} push: true - cache-from: type=registry,ref=lcas.lincoln.ac.uk/cache/${{ inputs.push_image }}:${{ inputs.ros_distro }} - cache-to: type=registry,ref=lcas.lincoln.ac.uk/cache/${{ inputs.push_image }}:${{ inputs.ros_distro }},mode=max + cache-from: type=registry,ref=lcas.lincoln.ac.uk/cache/${{ matrix.push_image }}:${{ matrix.ros_distro }} + cache-to: type=registry,ref=lcas.lincoln.ac.uk/cache/${{ matrix.push_image }}:${{ matrix.ros_distro }},mode=max tags: ${{ steps.meta.outputs.tags }} labels: ${{ steps.meta.outputs.labels }} build-args: | - BASE_IMAGE=${{ inputs.base_image }} - ROS_DISTRO=${{ inputs.ros_distro }} + BASE_IMAGE=${{ matrix.base_image }} + ROS_DISTRO=${{ matrix.ros_distro }} From 28399daf2e1a2f0d7c3508c877c663193f5683bd Mon Sep 17 00:00:00 2001 From: Josh Cooper Date: Mon, 30 Mar 2026 11:56:23 +0100 Subject: [PATCH 49/54] feat: add variant request form --- .github/ISSUE_TEMPLATE/request-variant.yaml | 75 +++++++++++++++++++++ 1 file changed, 75 insertions(+) create mode 100644 .github/ISSUE_TEMPLATE/request-variant.yaml diff --git a/.github/ISSUE_TEMPLATE/request-variant.yaml b/.github/ISSUE_TEMPLATE/request-variant.yaml new file mode 100644 index 0000000..e062a04 --- /dev/null +++ b/.github/ISSUE_TEMPLATE/request-variant.yaml @@ -0,0 +1,75 @@ +name: "Request New Image Variant" +description: "Request a new variant based on the images scaffolded by this repository (e.g. ROS / CUDA variants)." +title: "[Variant]: " +labels: + - "enhancement" + - "feature request" +body: + - type: textarea + id: why + attributes: + label: "Explain Your Problem" + description: "What problem does this solve? Why can't you use an existing image that is produced from this repository?" + validations: + required: true + + - type: input + id: ros_version + attributes: + label: "ROS 2 Distro" + placeholder: "humble" + + - type: dropdown + id: rep2001 + attributes: + label: "Is the ROS 2 version a LTS variant?" + description: "See [REP-2001](https://www.ros.org/reps/rep-2001.html)" + options: + - "Yes" + - "No" + + - type: input + id: ubuntu_version + attributes: + label: "Ubuntu version" + placeholder: "22.04" + + - type: checkboxes + id: ubuntu_lts + attributes: + label: "Is Ubuntu LTS?" + options: + - label: "Yes (LTS)" + + - type: textarea + id: non_lts_justification + attributes: + label: "If not a Ubuntu LTS, please justify why you need this version." + + - type: checkboxes + id: cuda_needed + attributes: + label: "Is NVIDIA CUDA needed?" + description: "CUDA will make the images much larger and should only be used for 'AI' workloads that will take advantage of CUDA" + options: + - label: "Yes, I need to use CUDA in this container" + + - type: input + id: cuda_version + attributes: + label: "If yes, what CUDA version do you need?" + description: "If you are using your own machine, run `nvidia-smi` and see what version you are using or state latest." + placeholder: "13.2.0" + + - type: input + id: cuda_base_tag + attributes: + label: "What is your proposed NVIDIA base image to use? (optional)" + description: "From [NVIDIA supported tags list](https://gitlab.com/nvidia/container-images/cuda/-/blob/master/doc/supported-tags.md)." + placeholder: "13.2.0-cudnn-runtime-ubuntu22.04" + + - type: textarea + id: use_case + attributes: + label: "What is your use case?" + description: "Provide us with information and links of how you expect to be using this." From 6184ce272069a1c61245aab0565eec05a588e32a Mon Sep 17 00:00:00 2001 From: Josh Cooper Date: Mon, 30 Mar 2026 13:08:11 +0100 Subject: [PATCH 50/54] feat: refactor ROS image build workflow and add reusable build configuration * Break the desktop step into a part of the ros image builder * Clean up the matrix --- .github/workflows/_ros_build.yaml | 127 ++++++++++++++++++ .github/workflows/build-ros-image.yaml | 120 +++++++---------- cuda_desktop.dockerfile => desktop.dockerfile | 4 +- 3 files changed, 179 insertions(+), 72 deletions(-) create mode 100644 .github/workflows/_ros_build.yaml rename cuda_desktop.dockerfile => desktop.dockerfile (72%) diff --git a/.github/workflows/_ros_build.yaml b/.github/workflows/_ros_build.yaml new file mode 100644 index 0000000..8b5e844 --- /dev/null +++ b/.github/workflows/_ros_build.yaml @@ -0,0 +1,127 @@ +name: Build a single ROS Docker image (reusable) + +on: + workflow_call: + inputs: + base_image: + description: The FROM base image + required: true + type: string + push_image: + description: Image name on the LCAS registry + required: true + type: string + tag_stem: + description: "Base image tag stem (example: humble-11.8)" + required: true + type: string + image_context: + description: "Tag context suffix (main, release tag, or staging)" + required: true + type: string + ros_distro: + description: ROS distro to build for (for tags/build args) + required: true + type: string + dockerfile: + required: true + type: string + architectures: + required: true + type: string + build_desktop: + description: Build a desktop variant after the primary image? + required: false + default: false + type: boolean + desktop_push_image: + description: Desktop image name on the LCAS registry, i.e. ros_cuda_desktop + required: false + default: "" + type: string + outputs: + digest: + description: Image digest from the build + value: ${{ jobs.build.outputs.digest }} + secrets: + LCAS_REGISTRY_PUSHER: + required: true + LCAS_REGISTRY_TOKEN: + required: true + +jobs: + build: + runs-on: [lcas, qemu] + outputs: + digest: ${{ steps.build.outputs.digest }} + steps: + - uses: actions/checkout@v6 + + - uses: docker/login-action@v4 + with: + registry: lcas.lincoln.ac.uk + username: ${{ secrets.LCAS_REGISTRY_PUSHER }} + password: ${{ secrets.LCAS_REGISTRY_TOKEN }} + + - name: Docker meta + id: meta + uses: docker/metadata-action@v6 + with: + flavor: latest=false + labels: | + org.opencontainers.image.description=AOC Docker Image (${{ inputs.push_image }}, ${{ inputs.ros_distro }}) + org.opencontainers.image.authors=L-CAS Team + images: lcas.lincoln.ac.uk/${{ inputs.push_image }} + tags: | + type=raw,value=${{ inputs.tag_stem }}-${{ inputs.image_context }} + + - uses: docker/setup-buildx-action@v4 + + - name: Build and push + id: build + uses: docker/build-push-action@v7 + with: + context: ./docker + file: ./${{ inputs.dockerfile }} + platforms: ${{ inputs.architectures }} + push: true + cache-from: type=registry,ref=lcas.lincoln.ac.uk/cache/${{ inputs.push_image }}:${{ inputs.tag_stem }} + cache-to: type=registry,ref=lcas.lincoln.ac.uk/cache/${{ inputs.push_image }}:${{ inputs.tag_stem }},mode=max + tags: ${{ steps.meta.outputs.tags }} + labels: ${{ steps.meta.outputs.labels }} + build-args: | + BASE_IMAGE=${{ inputs.base_image }} + ROS_DISTRO=${{ inputs.ros_distro }} + + ##### + + - name: Docker meta desktop + if: ${{ inputs.build_desktop }} + id: meta_desktop + uses: docker/metadata-action@v6 + with: + flavor: latest=false + labels: | + org.opencontainers.image.description=AOC Docker Image (${{ inputs.desktop_push_image }}, ${{ inputs.ros_distro }} desktop) + org.opencontainers.image.authors=L-CAS Team + images: lcas.lincoln.ac.uk/${{ inputs.desktop_push_image }} + tags: | + type=raw,value=${{ inputs.tag_stem }}-${{ inputs.image_context }} + + - name: Build and push desktop + if: ${{ inputs.build_desktop }} + id: build_desktop + uses: docker/build-push-action@v7 + with: + context: ./docker + file: ./desktop.dockerfile + platforms: ${{ inputs.architectures }} + push: true + cache-from: type=registry,ref=lcas.lincoln.ac.uk/cache/${{ inputs.desktop_push_image }}:${{ inputs.tag_stem }} + cache-to: type=registry,ref=lcas.lincoln.ac.uk/cache/${{ inputs.desktop_push_image }}:${{ inputs.tag_stem }},mode=max + tags: ${{ steps.meta_desktop.outputs.tags }} + labels: ${{ steps.meta_desktop.outputs.labels }} + build-args: | + BASE_IMAGE=lcas.lincoln.ac.uk/${{ inputs.push_image }}@${{ steps.build.outputs.digest }} + ROS_DISTRO=${{ inputs.ros_distro }} + diff --git a/.github/workflows/build-ros-image.yaml b/.github/workflows/build-ros-image.yaml index 31e8432..48a3d55 100644 --- a/.github/workflows/build-ros-image.yaml +++ b/.github/workflows/build-ros-image.yaml @@ -13,14 +13,41 @@ concurrency: cancel-in-progress: true jobs: - build: + ################################################################################################# + + prepare: + runs-on: [lcas, qemu] + outputs: + image_context: ${{ steps.vars.outputs.image_context }} + steps: + # Work out the context of this build request, store as an output! + - id: vars + run: | + if [ "${GITHUB_EVENT_NAME}" = "pull_request" ]; then + IMAGE_CONTEXT="staging" + elif [ "${GITHUB_REF_TYPE}" = "tag" ]; then + IMAGE_CONTEXT="${GITHUB_REF_NAME}" + elif [ "${GITHUB_REF_NAME}" = "main" ]; then + IMAGE_CONTEXT="main" + else + IMAGE_CONTEXT="staging" + fi + + echo "image_context=${IMAGE_CONTEXT}" >> "$GITHUB_OUTPUT" + + ################################################################################################# + + build_ros: + needs: prepare strategy: + max-parallel: 3 matrix: include: # ROS Humble - base_image: "ros:humble" push_image: "ros" ros_distro: "humble" + tag_stem: "humble" dockerfile: "base.dockerfile" architectures: "linux/amd64,linux/arm64" @@ -28,88 +55,39 @@ jobs: - base_image: "ros:jazzy" push_image: "ros" ros_distro: "jazzy" + tag_stem: "jazzy" dockerfile: "base.dockerfile" architectures: "linux/amd64,linux/arm64" - # --- - # ROS CUDA Humble - - base_image: "nvidia/cuda:11.8.0-runtime-ubuntu22.04" + - base_image: "nvidia/cuda:11.8.0-runtime-ubuntu22.04" push_image: "ros_cuda" ros_distro: "humble" + tag_stem: "humble-11.8" dockerfile: "cuda.dockerfile" architectures: "linux/amd64" + build_desktop: true + desktop_push_image: "ros_cuda_desktop" # ROS CUDA Jazzy - base_image: "nvidia/cuda:12.9.1-runtime-ubuntu24.04" push_image: "ros_cuda" ros_distro: "jazzy" + tag_stem: "jazzy-12.9" dockerfile: "cuda.dockerfile" architectures: "linux/amd64" - - # -- - - # The following section is currently broken and I want to see if the other steps build first so we are doing it one commit at a time! - - # # ROS CUDA Humble Desktop - # - base_image: lcas.lincoln.ac.uk/ros_cuda@${{ needs.ros-cuda-humble.outputs.digest }} - # push_image: "ros" - # ros_distro: "humble" - # dockerfile: "base.dockerfile" - # architectures: "linux/amd64,linux/arm64" - - # # ROS CUDA Jazzy Desktop - # - base_image: lcas.lincoln.ac.uk/ros_cuda@${{ needs.ros-cuda-jazzy.outputs.digest }} - # push_image: "ros" - # ros_distro: "humble" - # dockerfile: "base.dockerfile" - # architectures: "linux/amd64,linux/arm64" - - runs-on: [lcas, qemu] - - outputs: - digest: ${{ steps.build.outputs.digest }} - - steps: - - uses: actions/checkout@v6 - - - uses: docker/login-action@v4 - with: - registry: lcas.lincoln.ac.uk - username: ${{ secrets.LCAS_REGISTRY_PUSHER }} - password: ${{ secrets.LCAS_REGISTRY_TOKEN }} - - - name: Docker meta - id: meta - uses: docker/metadata-action@v6 - with: - flavor: latest=false - labels: | - org.opencontainers.image.description=AOC Docker Image (${{ matrix.push_image }}, ${{ matrix.ros_distro }}) - org.opencontainers.image.authors=L-CAS Team - images: lcas.lincoln.ac.uk/${{ matrix.push_image }} - tags: | - type=raw,value=${{ matrix.ros_distro }}-staging - type=raw,enable=${{ github.event_name != 'pull_request' }},value=${{ matrix.ros_distro }}-latest - type=ref,enable=${{ github.event_name != 'pull_request' }},event=branch,prefix=${{ matrix.ros_distro }}- - type=semver,pattern={{version}},prefix=${{ matrix.ros_distro }}- - type=semver,pattern={{major}}.{{minor}},prefix=${{ matrix.ros_distro }}- - type=semver,pattern={{major}},prefix=${{ matrix.ros_distro }}- - - - uses: docker/setup-buildx-action@v4 - - - name: Build and push - id: build - uses: docker/build-push-action@v7 - with: - context: ./docker - file: ./${{ matrix.dockerfile }} - platforms: ${{ matrix.architectures }} - push: true - cache-from: type=registry,ref=lcas.lincoln.ac.uk/cache/${{ matrix.push_image }}:${{ matrix.ros_distro }} - cache-to: type=registry,ref=lcas.lincoln.ac.uk/cache/${{ matrix.push_image }}:${{ matrix.ros_distro }},mode=max - tags: ${{ steps.meta.outputs.tags }} - labels: ${{ steps.meta.outputs.labels }} - build-args: | - BASE_IMAGE=${{ matrix.base_image }} - ROS_DISTRO=${{ matrix.ros_distro }} + build_desktop: true + desktop_push_image: "ros_cuda_desktop" + + uses: ./.github/workflows/_ros_build.yaml + with: + base_image: ${{ matrix.base_image }} + push_image: ${{ matrix.push_image }} + tag_stem: ${{ matrix.tag_stem }} + image_context: ${{ needs.prepare.outputs.image_context }} + ros_distro: ${{ matrix.ros_distro }} + dockerfile: ${{ matrix.dockerfile }} + architectures: ${{ matrix.architectures }} + build_desktop: ${{ matrix.build_desktop }} + desktop_push_image: ${{ matrix.desktop_push_image }} + secrets: inherit diff --git a/cuda_desktop.dockerfile b/desktop.dockerfile similarity index 72% rename from cuda_desktop.dockerfile rename to desktop.dockerfile index 7e4aa79..bf8cc57 100644 --- a/cuda_desktop.dockerfile +++ b/desktop.dockerfile @@ -1,7 +1,9 @@ ARG BASE_IMAGE=lcas.lincoln.ac.uk/ros_cuda:humble-main +ARG ROS_DISTRO=humble FROM ${BASE_IMAGE} AS base +ARG ROS_DISTRO RUN apt-get update && apt-get install -y --no-install-recommends \ ros-${ROS_DISTRO}-desktop \ - && rm -rf /var/lib/apt/lists/* + && rm -rf /var/lib/apt/lists/* \ No newline at end of file From b7ef4461301332971ce80d62a16c7b427ec8078f Mon Sep 17 00:00:00 2001 From: Josh Cooper Date: Mon, 30 Mar 2026 13:47:53 +0100 Subject: [PATCH 51/54] ci: move vnc build into the new pipeline Fix issues with building to ensure that we are bundling correctly --- ...{_ros_build.yaml => _build-ros-image.yaml} | 4 +- ...os-image.yaml => build-docker-images.yaml} | 29 ++++-- .github/workflows/docker-build-and-push.yaml | 89 ------------------- 3 files changed, 26 insertions(+), 96 deletions(-) rename .github/workflows/{_ros_build.yaml => _build-ros-image.yaml} (96%) rename .github/workflows/{build-ros-image.yaml => build-docker-images.yaml} (79%) delete mode 100644 .github/workflows/docker-build-and-push.yaml diff --git a/.github/workflows/_ros_build.yaml b/.github/workflows/_build-ros-image.yaml similarity index 96% rename from .github/workflows/_ros_build.yaml rename to .github/workflows/_build-ros-image.yaml index 8b5e844..7821f30 100644 --- a/.github/workflows/_ros_build.yaml +++ b/.github/workflows/_build-ros-image.yaml @@ -96,7 +96,7 @@ jobs: ##### - name: Docker meta desktop - if: ${{ inputs.build_desktop }} + if: ${{ inputs.build_desktop && inputs.desktop_push_image != '' }} id: meta_desktop uses: docker/metadata-action@v6 with: @@ -109,7 +109,7 @@ jobs: type=raw,value=${{ inputs.tag_stem }}-${{ inputs.image_context }} - name: Build and push desktop - if: ${{ inputs.build_desktop }} + if: ${{ inputs.build_desktop && inputs.desktop_push_image != '' }} id: build_desktop uses: docker/build-push-action@v7 with: diff --git a/.github/workflows/build-ros-image.yaml b/.github/workflows/build-docker-images.yaml similarity index 79% rename from .github/workflows/build-ros-image.yaml rename to .github/workflows/build-docker-images.yaml index 48a3d55..8cd71ff 100644 --- a/.github/workflows/build-ros-image.yaml +++ b/.github/workflows/build-docker-images.yaml @@ -1,4 +1,4 @@ -name: Build a ROS Container Images +name: Build AOC Container Images on: push: @@ -36,11 +36,30 @@ jobs: echo "image_context=${IMAGE_CONTEXT}" >> "$GITHUB_OUTPUT" ################################################################################################# - + build_standalone: + needs: prepare + strategy: + matrix: + include: + # VNC standalone image + - base_image: "debian:trixie-slim" + push_image: "vnc" + dockerfile: "vnc.dockerfile" + architectures: "linux/amd64,linux/arm64" + + uses: ./.github/workflows/_build-image.yaml + with: + base_image: ${{ matrix.base_image }} + push_image: ${{ matrix.push_image }} + dockerfile: ${{ matrix.dockerfile }} + architectures: ${{ matrix.architectures }} + secrets: inherit + + build_ros: needs: prepare strategy: - max-parallel: 3 + max-parallel: 8 matrix: include: # ROS Humble @@ -79,7 +98,7 @@ jobs: build_desktop: true desktop_push_image: "ros_cuda_desktop" - uses: ./.github/workflows/_ros_build.yaml + uses: ./.github/workflows/_build-ros-image.yaml with: base_image: ${{ matrix.base_image }} push_image: ${{ matrix.push_image }} @@ -88,6 +107,6 @@ jobs: ros_distro: ${{ matrix.ros_distro }} dockerfile: ${{ matrix.dockerfile }} architectures: ${{ matrix.architectures }} - build_desktop: ${{ matrix.build_desktop }} + build_desktop: ${{ matrix.build_desktop || false }} desktop_push_image: ${{ matrix.desktop_push_image }} secrets: inherit diff --git a/.github/workflows/docker-build-and-push.yaml b/.github/workflows/docker-build-and-push.yaml deleted file mode 100644 index 7bb26c9..0000000 --- a/.github/workflows/docker-build-and-push.yaml +++ /dev/null @@ -1,89 +0,0 @@ -name: Build AOC Docker Images - -on: - push: - branches: [ main ] - tags: [ '*' ] - pull_request: - branches: [ main ] - workflow_dispatch: - -concurrency: - group: ${{ github.workflow }}-${{ github.ref }} - cancel-in-progress: true - -jobs: - ## VNC, Standalone Docker Image - NOT ROS - vnc: - uses: ./.github/workflows/_build-image.yaml - with: - base_image: debian:trixie-slim - push_image: vnc - dockerfile: vnc.dockerfile - architectures: linux/amd64,linux/arm64 - secrets: inherit - - # # ── Level 0: no dependencies ────────────────────────────────────────────── - # ros-humble: - # uses: ./.github/workflows/_build-ros-image.yaml - # with: - # base_image: ros:humble - # push_image: ros - # ros_distro: humble - # dockerfile: base.dockerfile - # architectures: linux/amd64,linux/arm64 - # secrets: inherit - - # ros-jazzy: - # uses: ./.github/workflows/_build-ros-image.yaml - # with: - # base_image: ros:jazzy - # push_image: ros - # ros_distro: jazzy - # dockerfile: base.dockerfile - # architectures: linux/amd64,linux/arm64 - # secrets: inherit - - # ros-cuda-humble: - # uses: ./.github/workflows/_build-ros-image.yaml - # with: - # base_image: nvidia/cuda:11.8.0-runtime-ubuntu22.04 - # push_image: ros_cuda - # ros_distro: humble - # dockerfile: cuda.dockerfile - # architectures: linux/amd64 - # secrets: inherit - - # ros-cuda-jazzy: - # uses: ./.github/workflows/_build-ros-image.yaml - # with: - # base_image: nvidia/cuda:12.9.1-runtime-ubuntu24.04 - # push_image: ros_cuda - # ros_distro: jazzy - # dockerfile: cuda.dockerfile - # architectures: linux/amd64 - # secrets: inherit - - # # ── Level 1: base_image is the exact digest from level 0 ───────────────── - # ros-cuda-desktop-humble: - # needs: ros-cuda-humble - # uses: ./.github/workflows/_build-ros-image.yaml - # with: - # # Digest is immutable — no staging tag, no race condition, no cleanup - # base_image: lcas.lincoln.ac.uk/ros_cuda@${{ needs.ros-cuda-humble.outputs.digest }} - # push_image: ros_cuda_desktop - # ros_distro: humble - # dockerfile: cuda_desktop.dockerfile - # architectures: linux/amd64 - # secrets: inherit - - # ros-cuda-desktop-jazzy: - # needs: ros-cuda-jazzy - # uses: ./.github/workflows/_build-ros-image.yaml - # with: - # base_image: lcas.lincoln.ac.uk/ros_cuda@${{ needs.ros-cuda-jazzy.outputs.digest }} - # push_image: ros_cuda_desktop - # ros_distro: jazzy - # dockerfile: cuda_desktop.dockerfile - # architectures: linux/amd64 - # secrets: inherit From 8f6d86b0b6fe572a2ed49af7e20c8095cd641c2d Mon Sep 17 00:00:00 2001 From: Josh Cooper Date: Mon, 30 Mar 2026 14:07:30 +0100 Subject: [PATCH 52/54] ci: define reusable workflow for building standalone images * rename from build image to build standalone image for extra clarity * name each workflow run * fix the semver tagging --- .github/workflows/_build-ros-image.yaml | 6 ++++++ ...{_build-image.yaml => _build-standalone-image.yaml} | 10 +++++++--- .github/workflows/build-docker-images.yaml | 4 +++- 3 files changed, 16 insertions(+), 4 deletions(-) rename .github/workflows/{_build-image.yaml => _build-standalone-image.yaml} (83%) diff --git a/.github/workflows/_build-ros-image.yaml b/.github/workflows/_build-ros-image.yaml index 7821f30..99421c0 100644 --- a/.github/workflows/_build-ros-image.yaml +++ b/.github/workflows/_build-ros-image.yaml @@ -74,6 +74,9 @@ jobs: images: lcas.lincoln.ac.uk/${{ inputs.push_image }} tags: | type=raw,value=${{ inputs.tag_stem }}-${{ inputs.image_context }} + type=semver,pattern={{version}},prefix=${{ inputs.tag_stem }}- + type=semver,pattern={{major}}.{{minor}},prefix=${{ inputs.tag_stem }}- + type=semver,pattern={{major}},prefix=${{ inputs.tag_stem }}- - uses: docker/setup-buildx-action@v4 @@ -107,6 +110,9 @@ jobs: images: lcas.lincoln.ac.uk/${{ inputs.desktop_push_image }} tags: | type=raw,value=${{ inputs.tag_stem }}-${{ inputs.image_context }} + type=semver,pattern={{version}},prefix=${{ inputs.tag_stem }}- + type=semver,pattern={{major}}.{{minor}},prefix=${{ inputs.tag_stem }}- + type=semver,pattern={{major}},prefix=${{ inputs.tag_stem }}- - name: Build and push desktop if: ${{ inputs.build_desktop && inputs.desktop_push_image != '' }} diff --git a/.github/workflows/_build-image.yaml b/.github/workflows/_build-standalone-image.yaml similarity index 83% rename from .github/workflows/_build-image.yaml rename to .github/workflows/_build-standalone-image.yaml index 852ffa4..b70cce3 100644 --- a/.github/workflows/_build-image.yaml +++ b/.github/workflows/_build-standalone-image.yaml @@ -1,4 +1,4 @@ -name: Build a single Docker image (reusable) +name: Build a single standalone Docker image (reusable) on: workflow_call: @@ -54,8 +54,12 @@ jobs: org.opencontainers.image.authors=L-CAS Team images: lcas.lincoln.ac.uk/${{ inputs.push_image }} tags: | - type=raw,value=staging - type=raw,enable=${{ github.event_name != 'pull_request' }},value=latest + type=raw,enable=${{ github.ref_name == 'main' }},value=main + type=raw,enable=${{ github.ref_name == 'main' }},value=latest + type=raw,enable=${{ github.ref_name != 'main' }},value=staging + type=semver,pattern={{version}} + type=semver,pattern={{major}}.{{minor}} + type=semver,pattern={{major}} - uses: docker/setup-buildx-action@v4 diff --git a/.github/workflows/build-docker-images.yaml b/.github/workflows/build-docker-images.yaml index 8cd71ff..f6d4125 100644 --- a/.github/workflows/build-docker-images.yaml +++ b/.github/workflows/build-docker-images.yaml @@ -37,6 +37,7 @@ jobs: ################################################################################################# build_standalone: + name: Build ${{ matrix.push_image }} needs: prepare strategy: matrix: @@ -47,7 +48,7 @@ jobs: dockerfile: "vnc.dockerfile" architectures: "linux/amd64,linux/arm64" - uses: ./.github/workflows/_build-image.yaml + uses: ./.github/workflows/_build-standalone-image.yaml with: base_image: ${{ matrix.base_image }} push_image: ${{ matrix.push_image }} @@ -57,6 +58,7 @@ jobs: build_ros: + name: Build ${{ matrix.push_image }} ${{ matrix.tag_stem }} needs: prepare strategy: max-parallel: 8 From 16c53fc9b26489d5b33540cd42e5e64737a91085 Mon Sep 17 00:00:00 2001 From: Josh Cooper Date: Mon, 30 Mar 2026 14:36:55 +0100 Subject: [PATCH 53/54] Apply suggestions from code review Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> --- README.md | 5 ++--- vnc.dockerfile | 4 +--- 2 files changed, 3 insertions(+), 6 deletions(-) diff --git a/README.md b/README.md index ddb3344..fd12689 100644 --- a/README.md +++ b/README.md @@ -1,6 +1,6 @@ # AOC Container Base -A repository of verstile Docker containers, orginally developed as apart of the [Agri-OpenCore (AOC) project](https://agri-opencore.org). Designed for the execution of simple and reliable containerised robotics solutions. +A repository of versatile Docker containers, orginally developed as apart of the [Agri-OpenCore (AOC) project](https://agri-opencore.org). Designed for the execution of simple and reliable containerised robotics solutions. This repository manages the following containers: @@ -8,7 +8,7 @@ This repository manages the following containers: | --- | --- | --- | --- | | `lcas.lincoln.ac.uk/ros` | `humble` `jazzy` | Base ROS Container, the minimal environment you need for ROS | [base.dockerfile](base.dockerfile) | | `lcas.lincoln.ac.uk/ros_cuda` | `humble` `jazzy` | ROS + Nvidia. When you need to use a GPU in your ROS environment for either better quality simulation or AI workloads. | [cuda.dockerfile](cuda.dockerfile) | -| `lcas.lincoln.ac.uk/ros_cuda_desktop` | `humble` `jazzy` | ROS + Nvidia + Packages. Installs the `ros-{distro}-desktop` varient so there is the full ROS stack available. | [cuda_desktop.dockerfile](cuda_desktop.dockerfile) | +| `lcas.lincoln.ac.uk/ros_cuda_desktop` | `humble` `jazzy` | ROS + Nvidia + Packages. Installs the `ros-{distro}-desktop` varient so there is the full ROS stack available. | [desktop.dockerfile](desktop.dockerfile) | | `lcas.lincoln.ac.uk/vnc` | `latest` | Standalone VNC container that can take X11 visualisations and show them in a browser. | [vnc.dockerfile](vnc.dockerfile) | These containers are built from three standard container images, `ros`, `nvidia/cuda` and `debian`. Each container is either built from one of these pre-existing images or one derrived from it in this pattern. @@ -20,7 +20,6 @@ flowchart TB nvidia_cuda["nvidia/cuda"] --> lcas_ros_cuda["lcas/ros_cuda"] lcas_ros_cuda --> lcas_ros_cuda_desktop["lcas/ros_cuda_desktop"] debian["debian"] --> vnc["vnc"] - vnc --> vnc_devtools["vnc_devtools"] %% External base images (dashed) style library_ros stroke-width:1px,stroke-dasharray: 3 3 diff --git a/vnc.dockerfile b/vnc.dockerfile index bbfc802..7f840b2 100644 --- a/vnc.dockerfile +++ b/vnc.dockerfile @@ -6,9 +6,7 @@ ARG username=lcas ENV BASE_IMAGE=${BASE_IMAGE} ENV DEBIAN_FRONTEND=noninteractive \ - DISPLAY=:1 \ - NOVNC_PORT=5801 \ - RESOLUTION=1366x768x24 + DISPLAY=:1 # Install timezone RUN ln -fs /usr/share/zoneinfo/UTC /etc/localtime \ From c01caa81b9d3c1f5163e906e78290abf10b5bd02 Mon Sep 17 00:00:00 2001 From: Josh Cooper Date: Mon, 30 Mar 2026 16:38:30 +0100 Subject: [PATCH 54/54] docs: improve the readme for clarity --- README.md | 38 +++++++++++++++++++++----------------- 1 file changed, 21 insertions(+), 17 deletions(-) diff --git a/README.md b/README.md index fd12689..4c9481a 100644 --- a/README.md +++ b/README.md @@ -1,17 +1,17 @@ # AOC Container Base -A repository of versatile Docker containers, orginally developed as apart of the [Agri-OpenCore (AOC) project](https://agri-opencore.org). Designed for the execution of simple and reliable containerised robotics solutions. +A repository of versatile containers, developed as part of the [Agri-OpenCore (AOC) project](https://agri-opencore.org). Designed for the execution of simple and reliable containerised robotics solutions. This repository manages the following containers: -| Container Name | Varients | Purpose | File | -| --- | --- | --- | --- | -| `lcas.lincoln.ac.uk/ros` | `humble` `jazzy` | Base ROS Container, the minimal environment you need for ROS | [base.dockerfile](base.dockerfile) | -| `lcas.lincoln.ac.uk/ros_cuda` | `humble` `jazzy` | ROS + Nvidia. When you need to use a GPU in your ROS environment for either better quality simulation or AI workloads. | [cuda.dockerfile](cuda.dockerfile) | -| `lcas.lincoln.ac.uk/ros_cuda_desktop` | `humble` `jazzy` | ROS + Nvidia + Packages. Installs the `ros-{distro}-desktop` varient so there is the full ROS stack available. | [desktop.dockerfile](desktop.dockerfile) | -| `lcas.lincoln.ac.uk/vnc` | `latest` | Standalone VNC container that can take X11 visualisations and show them in a browser. | [vnc.dockerfile](vnc.dockerfile) | +| Image | Tags | Includes | Choose This If... | Dockerfile | +| --- | --- | --- | --- | --- | +| `lcas.lincoln.ac.uk/ros` | `humble`, `jazzy` | Minimal ROS runtime and tooling, plus VirtualGL | You need ROS with graphical workflows (including VirtualGL-based rendering) but do not need NVIDIA CUDA | [base.dockerfile](base.dockerfile) | +| `lcas.lincoln.ac.uk/ros_cuda` | `humble-11.8`, `jazzy-12.9` | ROS plus NVIDIA CUDA support | You need CUDA-enabled GPU acceleration for simulation or AI workloads | [cuda.dockerfile](cuda.dockerfile) | +| `lcas.lincoln.ac.uk/ros_cuda_desktop` | `humble-11.8`, `jazzy-12.9` | ROS + CUDA + `ros-{distro}-desktop` package set | You need CUDA and the full ROS desktop stack | [desktop.dockerfile](desktop.dockerfile) | +| `lcas.lincoln.ac.uk/vnc` | `latest` | Browser-accessible VNC/X11 display endpoint | You need a shared web-based display target for GUI applications from other containers | [vnc.dockerfile](vnc.dockerfile) | -These containers are built from three standard container images, `ros`, `nvidia/cuda` and `debian`. Each container is either built from one of these pre-existing images or one derrived from it in this pattern. +These containers are built from three standard container images, `ros`, `nvidia/cuda` and `debian`. Each container is either built from one of these pre-existing images or one derived from it in this pattern. ```mermaid %%{init: {"theme":"neutral"}}%% @@ -29,11 +29,17 @@ flowchart TB ## How can I use this? +Choose your image using this quick guide: + +- No CUDA, but graphical workflows: use `lcas.lincoln.ac.uk/ros` (as this includes VirtualGL). +- Need CUDA: use `lcas.lincoln.ac.uk/ros_cuda` or `lcas.lincoln.ac.uk/ros_cuda_desktop`. +- Minimal ROS only: if you do not need VirtualGL or the shared VNC environment, use [`ros` on DockerHub](https://hub.docker.com/_/ros). + ### ROS -This works best if you follow the [`ros2_workspace_template`](https://github.com/lcas/ros2_pkg_template), use this as a template to build your own repositories, that contain the packages you want to ship. +This works best if you follow the [`ros2_pkg_template`](https://github.com/lcas/ros2_pkg_template). Use it as a template to build your own repositories containing the packages you want to ship. -You can work either inside the devcontainer or by running the container yourself, and then when you are ready start by enabling the deployment workflows and adding automated testing. Then once you're happy move this onto a real robot platform - and keep iterating till it works! +You can work either inside the devcontainer or by running the container yourself. When you are ready, enable the deployment workflows and add automated testing. Once you are happy, move this onto a real robot platform and keep iterating until it works. ```mermaid %%{init: {"theme":"neutral","flowchart":{"curve":"linear"}}}%% @@ -41,7 +47,7 @@ flowchart LR Dev["Develop in the Devcontainer"] Workflows["Activate Workflows to Build and Push Images"] AutoTest["Add Automated Testing Steps Where Possible"] - Deploy["Add/Update Your Container on to the Platform Deployment Repository"] + Deploy["Add/Update Your Container onto the Platform Deployment Repository"] RealTest["Test the Packages on a Real Robot"] Outcome{"Did it work well?"} Fix(("Make changes that will fix the issues")) @@ -63,12 +69,10 @@ flowchart LR ### VNC -One of the components `vnc` is a X11 destination allowing for graphical applications to be displayed in a web browser, either on the robot or remotely. - -The general concept is that we take the `vnc` container image and deploy that only once[^vnc-plural], allowing to remove the bulk of having all the tools for a display inside every container. +One of the components, `vnc`, is an X11 destination that allows graphical applications to be displayed in a web browser, either on the robot or remotely. -[^vnc-plural]: We may want to deploy this multiple times, i.e. to support multiple displays for monitoring, but this is a-typical. But either way we are deploying as few displays as possible meaning we have less resource requirements. +`vnc` is not ROS-specific; it can display applications from any container that outputs to X11. It also works with VirtualGL-based applications running in ROS containers, where VirtualGL forwards 3D rendering from those application containers to the host GPU, and the rendered frames are then shown through the VNC session. -# +The general concept is to deploy the `vnc` container image only once[^vnc-plural], which removes the need to include display tooling in every application container. -Lincoln Centre for Autonomous Systems Research \ No newline at end of file +[^vnc-plural]: You may want to deploy this multiple times, i.e. to support multiple displays for monitoring, but this is atypical. Either way, we deploy as few displays as possible so we have lower resource requirements.