Merge Foxy devel to Main

.docker_utils/Dockerfile.f1tenth_x86

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+# --------------------------------------------------------------------------------------------------------------------------------------------------
+# Getting Base image (ubuntu 20.04)
+# --------------------------------------------------------------------------------------------------------------------------------------------------
+FROM ros:foxy
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
+
+ARG WORKSPACE=/home/projects/f1tenth_ws/
+
+WORKDIR /
+
+####################################################################################################################################################
+# Install required packages/dependencies for f1tenth_x86
+####################################################################################################################################################
+RUN apt-get update --fix-missing && \
+    apt-get install -y --no-install-recommends \
+    sudo \
+    wget \
+    gedit \
+    curl \
+    unzip \
+    net-tools \
+    git \
+    nano \
+    vim \
+    libeigen3-dev \
+    tmux \
+    ros-foxy-rviz2 && \
+    rm -rf /var/lib/apt/lists/*
+
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    ros-foxy-desktop \
+    ros-foxy-message-filters \
+    ros-foxy-image-transport \
+    ros-foxy-teleop-twist-joy \
+    ros-foxy-joy \
+    ros-foxy-joy-teleop \
+    ros-foxy-rviz-default-plugins \
+    ros-foxy-rviz-rendering \
+    ros-foxy-ros2bag \
+    ros-foxy-rosbag2-converter-default-plugins \
+    ros-foxy-rosbag2-storage-default-plugins \
+    ros-foxy-robot-localization \
+    ros-foxy-slam-toolbox \
+    ros-foxy-ackermann-msgs \
+    ros-foxy-serial-driver \
+    ros-foxy-depthai-ros \
+    ros-foxy-pcl-ros \
+    ros-foxy-robot-state-publisher \
+    ros-foxy-joint-state-publisher && \
+    rm -rf /var/lib/apt/lists/*
+
+# --------------------------------------------------------------------------------------------------------------------------------------------------
+# Install useful packages
+# --------------------------------------------------------------------------------------------------------------------------------------------------
+RUN apt-get update && \
+    apt-get install -y --no-install-recommends \
+    python3-pip \
+    python3-dev \
+    python3-argcomplete \
+    cmake \
+    nano \
+    iputils-ping \
+    x11-apps \
+    xauth \
+    nautilus \
+    usbutils \
+    vim \
+    tmux \
+    tmuxp \
+    # htop \
+    network-manager \
+    firefox \
+    git-all \
+    cheese \
+    jstest-gtk \
+    joystick \
+    # gedit \
+    # gedit-plugin-multi-edit \
+    # gedit-plugins \
+    python3-tk \
+    python3-rosdep \
+    python3-vcstool \
+    ros-dev-tools && \
+    rm -rf /var/lib/apt/lists/*
+
+RUN apt-get update && \
+    apt-get install -y --no-install-recommends \
+    ros-foxy-rmw-cyclonedds-cpp \
+    ros-foxy-rosbridge-suite \
+    ros-foxy-nav2* \
+    ros-foxy-navigation2 \
+    ros-foxy-smac-planner \
+    ros-foxy-spatio-temporal-voxel-layer \
+    ros-foxy-nonpersistent-voxel-layer \
+    ros-foxy-tf-transformations \
+    ros-foxy-imu-tools && \
+    rm -rf /var/lib/apt/lists/*
+
+RUN apt-get update --fix-missing && \
+    apt-get install -y xvfb ffmpeg libgdal-dev libsm6 libxext6 && \
+    apt-get -y dist-upgrade && \
+    rm -rf /var/lib/apt/lists/*
+
+WORKDIR /home/projects
+
+####### CREATE VIRTUAL ENVIRONMENTS #######
+RUN apt-get update && apt-get install -y python3.8-venv && \
+    echo "alias python=python3" >> ~/.bashrc && \
+    python3 -m venv /opt/venv/donkey --system-site-packages
+
+################ DEPTHAI ##################
+WORKDIR /home/projects/
+RUN git clone https://github.com/luxonis/depthai.git && \
+    git clone https://github.com/luxonis/depthai-python.git && \
+    cd depthai && \
+    source /opt/venv/donkey/bin/activate && \
+    curl -fL https://docs.luxonis.com/install_dependencies.sh | bash && \
+    python3 install_requirements.py && \
+    cd ../depthai-python/examples && \
+    python3 install_requirements.py 
+
+RUN echo "export OPENBLAS_CORETYPE=ARMV8" >> ~/.bashrc && \
+    echo 'SUBSYSTEM=="usb", ATTRS{idVendor}=="03e7", MODE="0666"' | tee /etc/udev/rules.d/80-movidius.rules
+
+########### Install Groot ###########
+WORKDIR /home
+
+RUN apt-get update --fix-missing && \
+    apt-get install -y --no-install-recommends ros-foxy-behaviortree-cpp-v3 \
+    libtool \
+    pkg-config \
+    build-essential \
+    autoconf \
+    automake \
+    # libzmq-dev \
+    qtbase5-dev \
+    libqt5svg5-dev \
+    libzmq3-dev \
+    libdw-dev && \
+    rm -rf /var/lib/apt/lists/*
+
+RUN git clone --recurse-submodules https://github.com/BehaviorTree/Groot.git
+WORKDIR /home/Groot
+RUN cmake -S . -B build && \
+    cmake --build build
+
+### Create f1tenth workspace
+WORKDIR $WORKSPACE
+
+RUN git clone -b foxy_devel https://github.com/Triton-AI/robocar.git && \
+    mv robocar .. && \
+    cd .. && \
+    rm -rf $WORKSPACE && \
+    mv robocar/ $WORKSPACE && \
+    cd $WORKSPACE
+
+# Global Planner Dependencies
+RUN pip install trajectory_planning_helpers==0.78 \
+    scipy==1.7.3 \
+    matplotlib==3.5.1 \
+    casadi \ 
+    scikit-image==0.19.2 \
+    scikit-learn \
+    transforms3d
+
+########### Clone Basic ROS 2 Packages ###########
+RUN source source_ros2.sh && \
+    make livox-driver && \
+    make racer && \
+    make autodrive && \
+    sed -i '/#include <tf2_geometry_msgs/d' src/external/state_estimation/rf2o_laser_odometry/include/rf2o_laser_odometry/CLaserOdometry2DNode.hpp && \
+    make gb_opt
+
+### f1tenth gym && ros2 gym bridge ###
+RUN make sim
+
+# Install AutoDrive Devkit's Python dependencies
+RUN pip3 install attrdict \
+    numpy \
+    pillow \
+    opencv-contrib-python \
+    eventlet==0.33.3 \
+    Flask==1.1.1 \
+    Flask-SocketIO==4.1.0 \
+    python-socketio==4.2.0 \
+    python-engineio==3.13.0 \
+    greenlet==1.0.0 \
+    gevent==21.1.2 \
+    gevent-websocket==0.10.1 \
+    Jinja2==3.0.3 \
+    itsdangerous==2.0.1 \
+    werkzeug==2.0.3 \
+    transforms3d
+
+# Copy and install AutoDRIVE Devkit (ROS 2 API)
+# RUN wget https://github.com/AutoDRIVE-Ecosystem/AutoDRIVE-F1TENTH-Sim-Racing/releases/download/2024-cdc/autodrive_devkit.zip && \
+#     unzip autodrive_devkit.zip -d ${WORKSPACE}src/external/ && \
+#     rm autodrive_devkit.zip
+RUN cd ${WORKSPACE}src/external/ && \
+    git clone -b dev/2024-cdc https://github.com/Triton-AI/AutoDRIVE-F1TENTH-Sim-Racing.git
+
+# COLCON BUILD ROS2 PACKAGES
+RUN source source_ros2.sh && \
+    make rosdep-install && \
+    build_ros2
+
+########### ADD CUSTOM FUNCTIONS ###########
+WORKDIR /home/scripts/
+COPY scripts/bashrc.sh ./bashrc.sh
+RUN echo '. /home/scripts/bashrc.sh' >> /root/.bashrc
+
+WORKDIR $WORKSPACE
+RUN echo export WORKSPACE=$WORKSPACE >> /root/.bashrc
+
+# Set entrypoint
+EXPOSE 4567
+# RUN echo 'export LD_PRELOAD=/usr/local/lib/python3.8/dist-packages/sklearn/__check_build/../../scikit_learn.libs/libgomp-d22c30c5.so.1.0.0' >> ~/.bashrc
+ENTRYPOINT [ "/bin/bash"]

.github/workflows/publish_arm.yml

@@ -0,0 +1,132 @@
+name: publish
+on: 
+  schedule:
+    - cron: '38 23 * * *'
+  release:
+    types: [published]
+    branches: [ "foxy_devel" ]
+    # Publish semver tags as releases.
+    tags: [ 'a*.*.*' ]
+  pull_request:
+    branches: [ "foxy_devel" ]  # TBD
+
+
+env:
+  # Use docker.io for Docker Hub if empty
+  REGISTRY: ghcr.io
+  # github.repository as <account>/<repo>
+  IMAGE_NAME: ${{ github.repository }}
+  ROS_DISTRO: foxy
+
+jobs:
+  build:
+    runs-on: ubuntu-20.04
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          # - dockerfile: .docker_utils/Dockerfile.f1tenth_x86
+          #   tag: x86
+          - dockerfile: .docker_utils/Dockerfile.f1tenth_arm
+            tag: arm
+    permissions:
+      contents: read
+      packages: write
+      # This is used to complete the identity challenge
+      # with sigstore/fulcio when running outside of PRs.
+      id-token: write
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Set up QEMU
+        uses: docker/setup-qemu-action@v3
+        with:
+          platforms: linux/arm64/v8
+
+      - name: Set up SSH
+        uses: webfactory/[email protected]
+        with:
+          ssh-private-key: ${{ secrets.SSH_PRIVATE_KEY }}
+
+      # Install the cosign tool except on PR
+      # https://github.com/sigstore/cosign-installer
+      - name: Install cosign
+        if: github.event_name != 'pull_request'
+        uses: sigstore/[email protected] # c3667d99424e7e6047999fb6246c0da843953c65 #v3.0.1
+        with:
+          cosign-release: 'v2.2.4'
+
+      - name: Free Disk Space (Ubuntu)
+        uses: jlumbroso/free-disk-space@main
+        with:
+          # this might remove tools that are actually needed,
+          # if set to "true" but frees about 6 GB
+          tool-cache: false
+
+          # all of these default to true, but feel free to set to
+          # "false" if necessary for your workflow
+          android: true
+          dotnet: true
+          haskell: true
+          large-packages: true
+          docker-images: false
+          swap-storage: true
+
+      # Workaround: https://github.com/docker/build-push-action/issues/461
+      - name: Setup Docker buildx
+        uses: docker/setup-buildx-action@v3 # b167a89702b8b5314c104ab9d211b3dcf774f2b1
+        with:
+          platforms: linux/arm64/v8
+
+      # Login against a Docker registry except on PR
+      # https://github.com/docker/login-action
+      - name: Log into registry ${{ env.REGISTRY }}
+        if: github.event_name != 'pull_request'
+        uses: docker/login-action@v3 # f4ef78c080cd8ba55a85445d5b36e214a81df20a
+        with:
+          registry: ${{ env.REGISTRY }}
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      # Extract metadata (tags, labels) for Docker
+      # https://github.com/docker/metadata-action
+      - name: Extract Docker metadata
+        id: meta
+        uses: docker/metadata-action@v5 # 507c2f2dc502c992ad446e3d7a5dfbe311567a96
+        with:
+          images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}
+          tags: |
+            type=raw,value=${{ env.ROS_DISTRO }}-${{ matrix.tag }}
+
+      # Build and push Docker image with Buildx (don't push on PR)
+      # https://github.com/docker/build-push-action
+      - name: Build and push Docker final
+        id: build-and-push
+        uses: docker/build-push-action@v5
+        with:
+          context: .
+          push: ${{ github.event_name != 'pull_request' }}
+          file: ${{ matrix.dockerfile }}
+          tags: ${{ steps.meta.outputs.tags }}
+          platforms: linux/arm64/v8
+          labels: ${{ steps.meta.outputs.labels }}
+          ssh: |
+            default=${{ env.SSH_AUTH_SOCK }}
+          cache-from: type=gha
+          cache-to: type=gha,mode=max
+
+
+      # Sign the resulting Docker image digest except on PRs.
+      # This will only write to the public Rekor transparency log when the Docker
+      # repository is public to avoid leaking data.  If you would like to publish
+      # transparency data even for private images, pass --force to cosign below.
+      # https://github.com/sigstore/cosign
+#       - name: Sign the published Docker image
+#         if: ${{ github.event_name != 'pull_request' }}
+#         env:
+#           COSIGN_EXPERIMENTAL: "true"
+#         # This step uses the identity token to provision an ephemeral certificate
+#         # against the sigstore community Fulcio instance.
+#         run: echo "${{ steps.meta.outputs.tags }}" | xargs -I {} cosign sign {}@${{ steps.build-and-push.outputs.digest }}