Run with only Intel GPU and improve help of run.bash

README.md

@@ -21,7 +21,7 @@ DIST=(noetic | melodic | kinetic)
 ```
 Run the image locally using the `run.bash` script:
 ```
-./run.bash ${DIST}:latest
+./run.bash dockwater:${DIST}
 ```
 
 ## Build for CI

humble/Dockerfile

@@ -92,5 +92,6 @@ RUN apt update \
      ros-${ROSDIST}-rqt-topic \
      ros-${ROSDIST}-rviz2 \
      ros-${ROSDIST}-xacro \
+     ros-${ROSDIST}-foxglove-bridge \
   && sudo rm -rf /var/lib/apt/lists/* \
   && sudo apt clean -qq

humble_fortress/Dockerfile

@@ -0,0 +1,96 @@
+# Ubuntu 22.04 
+FROM ros:humble-ros-base-jammy
+
+# Setup timezone
+ENV TZ=Etc/UTC
+RUN echo $TZ > /etc/timezone && \
+  ln -fs /usr/share/zoneinfo/$TZ /etc/localtime
+
+# Tools necessary and useful during development
+RUN apt update && \
+ DEBIAN_FRONTEND=noninteractive \
+ apt install --no-install-recommends -y \
+        build-essential \
+        atop \
+	ca-certificates \
+        cmake \
+        cppcheck \
+	curl \
+        expect \
+        gdb \
+        git \
+	gnupg2 \
+        gnutls-bin \
+	iputils-ping \
+        libbluetooth-dev \
+        libccd-dev \
+        libcwiid-dev \
+	libeigen3-dev \
+        libfcl-dev \
+        libgflags-dev \
+        libgles2-mesa-dev \
+        libgoogle-glog-dev \
+        libspnav-dev \
+        libusb-dev \
+	lsb-release \
+	net-tools \
+	pkg-config \
+        protobuf-compiler \
+        python3-dbg \
+        python3-empy \
+        python3-numpy \
+        python3-setuptools \
+        python3-pip \
+        python3-venv \
+	ruby \
+        software-properties-common \
+	sudo \
+        vim \
+	wget \
+	xvfb \
+ && apt clean -qq
+
+# Setup locale
+RUN sudo apt update && sudo apt install locales \
+  && sudo locale-gen en_US en_US.UTF-8 \
+  && sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
+
+ARG ROSDIST=humble
+ARG IGNDIST=fortress
+ENV IGNITION_VERSION fortress
+
+# Set up repo to install Ignition
+RUN /bin/sh -c 'wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg' \
+  && /bin/sh -c 'echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null'
+
+# Install Gazebo and ROS2 Desktop
+RUN apt update \
+  && apt install -y --no-install-recommends \
+     ignition-${IGNDIST} \
+     ros-${ROSDIST}-desktop \
+  && rm -rf /var/lib/apt/lists/* \
+  && apt clean -qq
+
+# Install some 'standard' ROS packages and utilities.
+RUN apt update \
+  && apt install -y --no-install-recommends \
+     python3-colcon-common-extensions \
+     python3-vcstool \
+     python3-sdformat13 \
+     ros-${ROSDIST}-actuator-msgs \
+     ros-${ROSDIST}-ament-cmake-pycodestyle \
+     ros-${ROSDIST}-image-transport \
+     ros-${ROSDIST}-image-transport-plugins \
+     ros-${ROSDIST}-joy-teleop \
+     ros-${ROSDIST}-joy-linux \
+     ros-${ROSDIST}-mavros-msgs \
+     ros-${ROSDIST}-radar-msgs \
+     ros-${ROSDIST}-ros-gz \
+     ros-${ROSDIST}-rqt-graph \
+     ros-${ROSDIST}-rqt-image-view \
+     ros-${ROSDIST}-rqt-plot \
+     ros-${ROSDIST}-rqt-topic \
+     ros-${ROSDIST}-rviz2 \
+     ros-${ROSDIST}-xacro \
+  && sudo rm -rf /var/lib/apt/lists/* \
+  && sudo apt clean -qq

run.bash

@@ -19,10 +19,10 @@
 # Runs a docker container with the image created by build.bash
 # Requires:
 #   docker
-#   nvidia-docker
 #   an X server
 #   rocker
 # Recommended:
+#   nvidia-docker
 #   A joystick mounted to /dev/input/js0 or /dev/input/js1
 ############################################################
 # Help                                                     #
@@ -32,22 +32,24 @@ Help()
    # Display Help
    echo "Runs a docker container with the image created by build.bash."
    echo
-   echo "Syntax: scriptTemplate [-c|s|t|h]"
+   echo "Syntax: scriptTemplate [-c|s|t|i|h]"
    echo "options:"
    echo "c     Add cuda library support."
    echo "s     Create an image with novnc for use with cloudsim."
    echo "t     Create a test image for use with CI pipelines."
    echo "x     Create base image for the VRX competition server."
+   echo "i     Create image with only intel gpu support."
    echo "h     Print this help message and exit."
    echo
 }
 
 
 JOY=/dev/input/js0
 CUDA=""
+INTEL=/dev/dri
 ROCKER_ARGS="--devices $JOY --dev-helpers --nvidia --x11 --user --home --git"
 
-while getopts ":cstxh" option; do
+while getopts ":cstxih" option; do
   case $option in
     c) # enable cuda library support 
       CUDA="--cuda ";;
@@ -59,9 +61,12 @@ while getopts ":cstxh" option; do
     x) # Build VRX Competition base image
       echo "Building VRX Competition server base image"
       ROCKER_ARGS="--dev-helpers --devices $JOY --nvidia --x11 --user --user-override-name=developer";;
-    h) # print this help message and exit
+    i) # Build without nividia gpu but only intel gpu
+      echo "Building with only intel gpu"
+      ROCKER_ARGS="--dev-helpers --devices $INTEL $JOY --x11 --user --home --git";;
+    h) # print this help message
       Help
-      exit;; 
+      return 0;; 
   esac
 done