Adds instructions to build a docker image in an x86/x64 architecture for arm64/v8

[agalbachicar]

🎉 New feature

Part of #200

Summary

Povides a dockerized container to run in arm64/v8.
This is by no means a definite solution, given that it is presented as a self-contained docker image which packs the current state of the repository, builds and tests it, which isn't great for development. It is not great for staged versions either given that we have a plethora of unnecessary dependencies and the port / driver configurations are not included in this image.

It should help to foster the discussion and #200 by providing a baseline that works.

Test it

Followed the readme instructions in my laptop, connected the RPI to the camera, the lidar and the arduino uno. As a base system I had the system fully installed as the readme says, so all the port configuration was already there. After launching the container, I ran the following:

ros2 launch andino_bringup andino_robot.launch.py

I could see an error with the camera, different to #198 but probably related and just twisted because of the docker configuration. After setting the ROS_DOMAIN_ID, I could see with rqt_gui different topic information and similarly a partial visualization with RViz.

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• Updated documentation (as needed)
• Updated migration guide (as needed)
• Consider updating Python bindings (if it affects the public API)

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

[agalbachicar]

I think this is good starting point for solving many points here:

• we have packages in this repository that should not be there when deploying to the hardware (sim related). ( Fix rosdep dependencies when installing in Raspeberry Pi #201 )
• andino_navigation needs to not depend on the turtlebot3 ( Fix rosdep dependencies when installing in Raspeberry Pi #201 )
• andino_navigation should not rely on simulation, perhaps it'd be nicer that specific demos live in a different package and the navigation package only starts the desired nav stack.

Then, about the docker for arm64/v8:

• I think this may help to test certain packages in CI.
• we can edit this image to have a base development image.
• requirements.txt are shared, but perhaps if we want to distribute docker images with the running stack we just need a subset of runtime dependencies instead of development dependencies.
• many other things...

[JesusSilvaUtrera]

Just leaving a comment because I have tried to build the image and see if it was working fine for me and it failed (maybe it is a misconfiguration in my machine)

[JesusSilvaUtrera]

It fails here for me:

 => ERROR [base 10/16] RUN sudo usermod -a -G dialout jesus-silva                                                                                                                                       0.2s
------
 > [base 10/16] RUN sudo usermod -a -G dialout jesus-silva:
0.179 sudo: effective uid is not 0, is /usr/bin/sudo on a file system with the 'nosuid' option set or an NFS file system without root privileges?
------
Dockerfile.arm64:27
--------------------
  25 |     # This is needed to access the serial ports, for further references check
  26 |     # the libserial documentation.
  27 | >>> RUN sudo usermod -a -G dialout $USER
  28 |     RUN sudo usermod -a -G plugdev $USER
  29 |     
--------------------
ERROR: failed to solve: process "/dev/.buildkit_qemu_emulator /bin/sh -c sudo usermod -a -G dialout $USER" did not complete successfully: exit code: 1

What I usually do with this type of errors is to change the user later, so I don't need to use sudo on the commands.

[jballoffet]

Thanks @agalbachicar for sharing this, it is really helpful. I'm closing the PR until this can be tackled up but leaving the proposed changed on the branch so it can be resumed in the near future. Thank you!