Cleaned up Docker pipelines (backport #121) (#122)

* Cleaned up Docker pipelines (#121)

* Cleaned up Dockerfile and added new user entrypoints

* Fixed robot pipeline to support building for arm64

* Updated devcontainer configurations to use latest changes

* Testing pipelines

* Removed testing branch from pipelines

* Precommit

* Resolved pr comments

(cherry picked from commit 11807c8)

# Conflicts:
#	.devcontainer/nouveau/devcontainer.json
#	.devcontainer/nvidia/devcontainer.json
#	.github/ISSUE_TEMPLATE/config.yaml
#	.github/workflows/ci.yaml

* Fixed backport

* Fixed config merge conflict

---------

Co-authored-by: Evan Palmer <evanp922@gmail.com>

Author: mergify[bot]

.devcontainer/nouveau/Dockerfile

@@ -0,0 +1,26 @@
+FROM ghcr.io/robotic-decision-making-lab/blue:iron-desktop
+
+# Install ROS dependencies
+# This is done in a previous stage, but we include it again here in case anyone wants to
+# add new dependencies during development
+ENV USERNAME=blue
+ENV USER_WORKSPACE=/home/$USERNAME/ws_blue
+WORKDIR $USER_WORKSPACE
+
+COPY --chown=$USER_UID:$USER_GID . src/blue
+RUN sudo apt-get -q update \
+    && sudo apt-get -q -y upgrade \
+    && rosdep update \
+    && rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --skip-keys="gz-transport12 gz-sim7 gz-math7 gz-msgs9 gz-plugin2" \
+    && sudo apt-get autoremove -y \
+    && sudo apt-get clean -y \
+    && sudo rm -rf /var/lib/apt/lists/*
+
+# Install debugging/linting Python packages
+COPY --chown=$USER_UID:$USER_GID requirements-dev.txt .
+RUN python3 -m pip install -r requirements-dev.txt \
+    && rm -rf requirements-dev.txt
+
+# Disable the setuputils installation warning
+# This prevents us from needing to pin the setuputils version (which doesn't always work)
+ENV PYTHONWARNINGS="ignore"

.devcontainer/nouveau/devcontainer.json

@@ -1,13 +1,9 @@
 {
-  "dockerFile": "../../.docker/Dockerfile",
+  "name": "Blue Nouveau Dev Container",
+  "dockerFile": "Dockerfile",
   "context": "../..",
-  "build": {
-    "args": {
-      "WORKSPACE": "${containerWorkspaceFolder}",
-      "ROS_DISTRO": "iron"
-    },
-    "target": "develop"
-  },
+  "workspaceMount": "source=${localWorkspaceFolder},target=/home/blue/ws_blue/src/blue,type=bind",
+  "workspaceFolder": "/home/blue/ws_blue/src/blue",
   "remoteUser": "blue",
   "runArgs": [
     "--network=host",
@@ -43,12 +39,6 @@
         "editor.tabSize": 2,
         "xml.format.maxLineWidth": 100,
         "json.format.enable": true,
-        "python.linting.enabled": true,
-        "python.linting.flake8Enabled": true,
-        "python.linting.pylintEnabled": false,
-        "python.linting.pydocstyleEnabled": true,
-        "python.linting.mypyEnabled": true,
-        "python.formatting.provider": "black",
         "autoDocstring.startOnNewLine": false,
         "autoDocstring.docstringFormat": "google-notypes",
         "isort.args": ["--profile", "black"],
@@ -76,7 +66,8 @@
           "editor.rulers": [90],
           "editor.codeActionsOnSave": {
             "source.organizeImports": true
-          }
+          },
+          "editor.defaultFormatter": "ms-python.black-formatter"
         },
         "[dockerfile]": {
           "editor.quickSuggestions": {

.devcontainer/nvidia/Dockerfile

@@ -0,0 +1,26 @@
+FROM ghcr.io/robotic-decision-making-lab/blue:iron-desktop-nvidia
+
+# Install ROS dependencies
+# This is done in a previous stage, but we include it again here in case anyone wants to
+# add new dependencies during development
+ENV USERNAME=blue
+ENV USER_WORKSPACE=/home/$USERNAME/ws_blue
+WORKDIR $USER_WORKSPACE
+
+COPY --chown=$USER_UID:$USER_GID . src/blue
+RUN sudo apt-get -q update \
+    && sudo apt-get -q -y upgrade \
+    && rosdep update \
+    && rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --skip-keys="gz-transport12 gz-sim7 gz-math7 gz-msgs9 gz-plugin2" \
+    && sudo apt-get autoremove -y \
+    && sudo apt-get clean -y \
+    && sudo rm -rf /var/lib/apt/lists/*
+
+# Install debugging/linting Python packages
+COPY --chown=$USER_UID:$USER_GID requirements-dev.txt .
+RUN python3 -m pip install -r requirements-dev.txt \
+    && rm -rf requirements-dev.txt
+
+# Disable the setuputils installation warning
+# This prevents us from needing to pin the setuputils version (which doesn't always work)
+ENV PYTHONWARNINGS="ignore"

.devcontainer/nvidia/devcontainer.json

@@ -1,13 +1,9 @@
 {
-  "dockerFile": "../../.docker/Dockerfile",
+  "name": "Blue NVIDIA Dev Container",
+  "dockerFile": "Dockerfile",
   "context": "../..",
-  "build": {
-    "args": {
-      "WORKSPACE": "${containerWorkspaceFolder}",
-      "ROS_DISTRO": "iron"
-    },
-    "target": "develop-nvidia"
-  },
+  "workspaceMount": "source=${localWorkspaceFolder},target=/home/blue/ws_blue/src/blue,type=bind",
+  "workspaceFolder": "/home/blue/ws_blue/src/blue",
   "remoteUser": "blue",
   "runArgs": [
     "--network=host",
@@ -47,24 +43,18 @@
         "editor.tabSize": 2,
         "xml.format.maxLineWidth": 100,
         "json.format.enable": true,
-        "python.linting.enabled": true,
-        "python.linting.flake8Enabled": true,
-        "python.linting.pylintEnabled": false,
-        "python.linting.pydocstyleEnabled": true,
-        "python.linting.mypyEnabled": true,
-        "python.formatting.provider": "black",
         "autoDocstring.startOnNewLine": false,
         "autoDocstring.docstringFormat": "google-notypes",
         "isort.args": ["--profile", "black"],
         "isort.check": true,
         "python.autoComplete.extraPaths": [
-          "/opt/ros/rolling/lib/python3.10/site-packages/",
-          "/opt/ros/rolling/local/lib/python3.10/dist-packages/",
+          "/opt/ros/iron/lib/python3.10/site-packages/",
+          "/opt/ros/iron/local/lib/python3.10/dist-packages/",
           "${workspaceFolder}/install/"
         ],
         "python.analysis.extraPaths": [
-          "/opt/ros/rolling/lib/python3.10/site-packages/",
-          "/opt/ros/rolling/local/lib/python3.10/dist-packages/",
+          "/opt/ros/iron/lib/python3.10/site-packages/",
+          "/opt/ros/iron/local/lib/python3.10/dist-packages/",
           "${workspaceFolder}/install/"
         ],
         "C_Cpp.default.intelliSenseMode": "linux-gcc-x86",
@@ -82,7 +72,8 @@
           "editor.rulers": [90],
           "editor.codeActionsOnSave": {
             "source.organizeImports": true
-          }
+          },
+          "editor.defaultFormatter": "ms-python.black-formatter"
         },
         "[dockerfile]": {
           "editor.quickSuggestions": {