docker added

Author: juandpenan

.docker/Dockerfile

@@ -0,0 +1,101 @@
+# Dockerfile for ROSCon 2024 Deliberation Workshop
+
+FROM ros:humble AS robocup2024
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
+
+# Install apt dependencies.
+ARG DEBIAN_FRONTEND=noninteractive
+# RUN apt-get update && \
+#     apt-get upgrade -y && \
+#     apt-get install -y \
+#     gcc \
+#     git \
+#     wget \
+#     python3 nlohmann-json3-dev python3-pip portaudio19-dev \
+#     ros-humble-moveit
+RUN apt-get update \
+    && apt-get -y --quiet --no-install-recommends install \
+    gcc \
+    git \
+    wget \
+    portaudio19-dev \
+    python3 \
+    python3-pip \
+    ros-humble-moveit \
+    nlohmann-json3-dev
+   
+
+# Create a ROS 2 workspace.
+RUN mkdir -p /robocup/src/
+WORKDIR /robocup
+
+ADD https://raw.githubusercontent.com/mgonzs13/audio_common/refs/heads/main/requirements.txt /robocup/requirements1.txt
+ADD https://raw.githubusercontent.com/mgonzs13/whisper_ros/refs/heads/main/requirements.txt /robocup/requirements2.txt
+ADD https://raw.githubusercontent.com/mgonzs13/llama_ros/refs/heads/main/requirements.txt /robocup/requirements3.txt
+ADD https://raw.githubusercontent.com/jmguerreroh/yolov8_ros/refs/heads/main/requirements.txt /robocup/requirements4.txt
+ADD https://raw.githubusercontent.com/mgonzs13/tts_ros/refs/heads/main/requirements.txt /robocup/requirements5.txt
+
+# Install external dependencies.
+RUN pip install -r requirements1.txt
+RUN pip install -r requirements2.txt
+RUN pip install -r requirements3.txt
+RUN pip install -r requirements4.txt
+RUN pip install -r requirements5.txt
+
+
+WORKDIR /robocup/src
+RUN git clone https://github.com/juandpenan/CoreSense4Home.git -b humble-devel
+RUN vcs import --recursive < ./CoreSense4Home/robocup_bringup/thirdparty.repos
+
+WORKDIR /robocup
+RUN rosdep install --from-paths src --ignore-src -r -y
+
+# Remove MatPlotLib display warnings.
+RUN mkdir /tmp/runtime-root
+ENV XDG_RUNTIME_DIR "/tmp/runtime-root"
+RUN chmod -R 0700 /tmp/runtime-root
+ENV NO_AT_BRIDGE 1
+
+# Set up the entrypoint.
+# Install CUDA nvcc
+ARG USE_CUDA
+ARG CUDA_VERSION=12-6
+
+RUN if [ "$USE_CUDA" = "1" ]; then \
+    wget https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2004/x86_64/cuda-keyring_1.1-1_all.deb && \
+    dpkg -i cuda-keyring_1.1-1_all.deb && \
+    rm cuda-keyring_1.1-1_all.deb; \
+    apt-get update && apt-get install -y cuda-toolkit-$CUDA_VERSION; \
+    echo "export PATH=/usr/local/cuda/bin${PATH:+:${PATH}}" >> ~/.bashrc; \
+    echo "export LD_LIBRARY_PATH=/usr/local/cuda/lib64${LD_LIBRARY_PATH:+:${LD_LIBRARY_PATH}}" >> ~/.bashrc; \
+    fi
+
+# Install gdp grasp generator library
+WORKDIR /robocup/src/ThirdParty/gpd
+RUN mkdir build
+WORKDIR /robocup/src/ThirdParty/gpd/build
+RUN cmake ..
+RUN make -j
+RUN make install
+
+# Colcon the ws
+WORKDIR /robocup
+FROM robocup2024 AS builder
+ARG CMAKE_BUILD_TYPE=Release
+
+ENV PATH=/usr/local/cuda/bin${PATH:+:${PATH}}
+ENV LD_LIBRARY_PATH=/usr/local/cuda/lib64
+
+RUN source /opt/ros/${ROS_DISTRO}/setup.bash && \
+    if [ "$USE_CUDA" = "1" ]; then \
+    source ~/.bashrc && \
+    colcon build --packages-skip tts_bringup --cmake-args -DGGML_CUDA=ON; \
+    else \
+    colcon build --packages-skip tts_bringup; \
+    fi
+
+# Source the ROS 2 setup file
+RUN echo "source /root/robocup/install/setup.bash" >> ~/.bashrc
+
+# Run a default command, e.g., starting a bash shell
+CMD ["bash"]