Merge docker/spaceros and build files from docker repo into space-ros…

… (issue ros2#158)

.github/workflows/earthly-build.yaml

@@ -0,0 +1,54 @@
+name: Earthly build
+on:
+  workflow_dispatch:
+  push:
+    branches: ['main']
+    tags: ['*']
+  pull_request:
+  schedule:
+    - cron: '0 11 * * *'
+jobs:
+  build-testing-results:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v3
+      - name: Set up earthly
+        run: |
+          sudo wget https://github.com/earthly/earthly/releases/latest/download/earthly-linux-amd64 -O /usr/local/bin/earthly
+          sudo chmod 755 /usr/local/bin/earthly
+      - name: Build Space ROS
+        id: build
+        run: |
+          cd spaceros
+          earthly --ci --output +sources
+          earthly --ci --output +build-testing
+          echo "archivename=$(basename log/build_results_archives/build_results_*.tar.bz2)" >> $GITHUB_ENV
+      - name: Upload build results archive
+        uses: actions/upload-artifact@v3
+        with:
+          name: ${{env.archivename}}
+          path: spaceros/log/build_results_archives/${{env.archivename}}
+          if-no-files-found: error
+  space-ros-image:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v3
+      - name: Set up earthly
+        run: |
+          sudo wget https://github.com/earthly/earthly/releases/latest/download/earthly-linux-amd64 -O /usr/local/bin/earthly
+          sudo chmod 755 /usr/local/bin/earthly
+      - name: Build spaceros image
+        run: |
+          cd spaceros
+          earthly --ci --output +sources
+          earthly --ci +image
+      - name: Push spaceros image
+        env:
+          DOCKER_HUB_TOKEN: ${{ secrets.DOCKER_HUB_RW_TOKEN }}
+        if: ${{ github.ref_type == 'tag' }}
+        run: |
+          echo $DOCKER_HUB_TOKEN | docker login --username osrfbot --password-stdin
+          cd spaceros
+          earthly --ci --push +image --tag=${{ github.ref_name }}

spaceros/.gitignore

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+spaceros_ws/
+src/
+install/
+log/

spaceros/Earthfile

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+# Copyright 2021 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+VERSION 0.6
+FROM ubuntu:jammy
+
+earthfile:
+  COPY Earthfile Earthfile
+  SAVE ARTIFACT Earthfile
+
+setup:
+  # Disable prompting during package installation
+  ARG DEBIAN_FRONTEND=noninteractive
+
+  # The following commands are based on the source install for ROS 2 Rolling Ridley.
+  # See: https://docs.ros.org/en/ros2_documentation/rolling/Installation/Ubuntu-Development-Setup.html
+  # The main variation is getting Space ROS sources instead of the Rolling sources.
+
+  # Update the Ubuntu software repository
+  RUN apt-get update
+
+  # Set the locale
+  RUN apt-get install -y locales
+  RUN locale-gen en_US en_US.UTF-8
+  RUN update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
+  ENV LANG=en_US.UTF-8
+
+  # Add the ROS 2 apt repository
+  RUN apt-get install -y software-properties-common
+  RUN add-apt-repository universe
+  RUN apt-get update && apt-get install -y curl gnupg lsb-release
+  RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+  RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
+
+  # Install required software development tools and ROS tools (and vim included for convenience)
+  RUN apt-get update && apt-get install -y \
+    bison \
+    build-essential \
+    cmake \
+    git \
+    python3-colcon-common-extensions \
+    python3-flake8 \
+    python3-flake8-blind-except \
+    python3-flake8-builtins \
+    python3-flake8-class-newline \
+    python3-flake8-comprehensions \
+    python3-flake8-deprecated \
+    python3-flake8-docstrings \
+    python3-flake8-import-order \
+    python3-flake8-quotes \
+    python3-pip \
+    python3-pytest \
+    python3-pytest-cov \
+    python3-pytest-repeat \
+    python3-pytest-rerunfailures \
+    python3-rosdep \
+    python3-setuptools \
+    python3-vcstool \
+    wget \
+    vim
+
+  # Define the username and key variables
+  ENV USERNAME spaceros-user
+  ENV HOME_DIR=/home/${USERNAME}
+  ENV SPACEROS_DIR=${HOME_DIR}/spaceros
+  ENV ROSDISTRO=humble
+
+  # Create a spaceros user
+  RUN useradd -m $USERNAME && \
+    echo "$USERNAME:$USERNAME" | chpasswd && \
+    usermod --shell /bin/bash $USERNAME && \
+    usermod -aG sudo $USERNAME && \
+    mkdir -p /etc/sudoers.d && \
+    echo "$USERNAME ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers.d/$USERNAME && \
+    chmod 0440 /etc/sudoers.d/$USERNAME
+  USER ${USERNAME}
+  WORKDIR $SPACEROS_DIR
+
+  # Update the OpenGL version
+  RUN sudo add-apt-repository ppa:kisak/kisak-mesa
+  RUN sudo apt update && sudo apt upgrade -y
+
+spaceros-artifacts:
+  # we must run it in a separate container, so that downstream tasks can be cached if vcs file does not change
+  FROM +setup
+
+  # main purpose of this command is to make sure that the git ls-remote results are not cached
+  RUN --no-cache echo "Cloning spaceros repo artifacts"
+
+  # current git branch, prefilled by earthly: https://docs.earthly.dev/docs/earthfile/builtin-args
+  ARG EARTHLY_GIT_BRANCH
+
+  ARG SPACEROS_REPO_URL="https://github.com/space-ros/space-ros.git"
+  # if current local branch does not exist in target repo then use main. note that branch supplied from CLI overrides this behavior.
+  ARG SPACEROS_GIT_REF="$( [ -n \"$(git ls-remote $SPACEROS_REPO_URL $EARTHLY_GIT_BRANCH)\" ] && echo $EARTHLY_GIT_BRANCH || echo 'main' )"
+  # get exact commit hash. this makes sure that build will be re-triggered when new commit is pushed 
+  ARG _GIT_COMMIT_HASH = "$(git ls-remote $SPACEROS_REPO_URL $SPACEROS_GIT_REF | cut -f 1)"
+
+  # this means that branch specified by user from CLI does not exist
+  IF [ -z ${_GIT_COMMIT_HASH} ] 
+    RUN echo "Specified branch ${SPACEROS_GIT_REF} does not exist" && exit 1
+  END
+
+  IF [ $SPACEROS_REPO_URL = "https://github.com/space-ros/space-ros.git" ] 
+    # run wget instead of `GIT CLONE`, because main repo's host is known + it is public 
+    RUN wget https://raw.githubusercontent.com/space-ros/space-ros/${_GIT_COMMIT_HASH}/ros2.repos
+    RUN wget https://raw.githubusercontent.com/space-ros/space-ros/${_GIT_COMMIT_HASH}/excluded-pkgs.txt
+  ELSE
+    GIT CLONE --branch ${SPACEROS_GIT_REF} ${SPACEROS_REPO_URL} .
+  END
+
+  RUN mkdir src
+  # we run vcstool inside this task, because some packages in `ros2.repos` are not pinned and otherwise earthly won't pull latest changes
+  RUN vcs import src < ros2.repos
+  RUN vcs export --exact src > exact.repos
+  RUN rm -rf src
+
+  SAVE ARTIFACT ros2.repos # vcs pulled from `spaceros` repo as-is
+  SAVE ARTIFACT exact.repos # `ros2.repos`, but with pinned versions (e.g. SHAs instead of branches)
+  SAVE ARTIFACT excluded-pkgs.txt
+
+sources:
+  FROM +setup
+  COPY +spaceros-artifacts/ros2.repos ros2.repos
+  COPY +spaceros-artifacts/excluded-pkgs.txt excluded-pkgs.txt
+  COPY +spaceros-artifacts/exact.repos exact.repos
+  RUN mkdir src
+  RUN vcs import src < exact.repos
+  SAVE ARTIFACT src AS LOCAL src
+
+workspace:
+  FROM +sources
+  COPY src src/
+
+vcs-exact:
+  COPY +spaceros-artifacts/exact.repos exact.repos
+  SAVE ARTIFACT exact.repos AS LOCAL exact.repos
+
+rosdep:
+  FROM +workspace
+  # Install system package dependencies using rosdep
+  RUN sudo rosdep init && rosdep update
+  RUN rosdep install -y \
+      --from-paths src --ignore-src \
+      --rosdistro ${ROSDISTRO} \
+      # `urdfdom_headers` is cloned from source, however rosdep can't find it.
+      # It is because package.xml manifest is missing. See: https://github.com/ros/urdfdom_headers
+      # Additionally, IKOS must be excluded as per: https://github.com/space-ros/docker/issues/99
+      --skip-keys "$(tr '\n' ' ' < 'excluded-pkgs.txt') urdfdom_headers ikos"
+  RUN rm excluded-pkgs.txt
+
+  RUN sudo apt-get install --yes \
+           gcc g++ cmake libgmp-dev libboost-dev libboost-filesystem-dev \
+           libboost-thread-dev libboost-test-dev \
+           libsqlite3-dev libtbb-dev libz-dev libedit-dev \
+           python3 python3-pip python3-venv \
+           llvm-14 llvm-14-dev llvm-14-tools clang-14
+
+  WORKDIR $SPACEROS_DIR
+  RUN git clone -b v3.2 --depth 1 https://github.com/NASA-SW-VnV/ikos.git
+  WORKDIR $SPACEROS_DIR/ikos
+  RUN mkdir build
+  WORKDIR $SPACEROS_DIR/ikos/build
+  RUN cmake \
+        -DCMAKE_INSTALL_PREFIX="/opt/ikos" \
+        -DCMAKE_BUILD_TYPE="Debug" \
+        -DLLVM_CONFIG_EXECUTABLE="/usr/lib/llvm-14/bin/llvm-config" \
+        ..
+  RUN make
+  RUN sudo make install
+  ENV PATH="/opt/ikos/bin/:$PATH"
+  WORKDIR $SPACEROS_DIR
+  RUN sudo rm -rf ikos/
+
+build:
+  FROM +rosdep
+  RUN colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON --no-warn-unused-cli
+  COPY +spaceros-artifacts/exact.repos install/exact.repos
+  SAVE ARTIFACT install AS LOCAL install
+
+build-testing:
+  FROM +rosdep
+  RUN colcon build --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo -DCMAKE_EXPORT_COMPILE_COMMANDS=ON --no-warn-unused-cli
+  RUN . install/setup.sh && colcon test --retest-until-pass 2 --ctest-args -LE "(ikos|xfail)" --pytest-args -m "not xfail"
+  RUN . install/setup.sh && ros2 run process_sarif make_build_archive
+  COPY +spaceros-artifacts/exact.repos install/exact.repos
+  SAVE ARTIFACT log/build_results_archives/build_results_*.tar.bz2 AS LOCAL log/build_results_archives/
+  SAVE ARTIFACT install AS LOCAL install
+
+image:
+  FROM +rosdep
+  ARG VCS_REF
+  ARG tag='latest'
+
+  # Specify the docker image metadata
+  LABEL org.label-schema.schema-version="1.0"
+  LABEL org.label-schema.name="Space ROS"
+  LABEL org.label-schema.description="Preview version of the Space ROS platform"
+  LABEL org.label-schema.vendor="Open Robotics"
+  LABEL org.label-schema.url="https://github.com/space-ros"
+  LABEL org.label-schema.vcs-url="https://github.com/space-ros/docker-images"
+  LABEL org.label-schema.vcs-ref=${VCS_REF}
+
+  COPY +build/install ${SPACEROS_DIR}/install
+  COPY +spaceros-artifacts/exact.repos ${SPACEROS_DIR}/exact.repos
+  RUN rm -r src
+  COPY entrypoint.sh /ros_entrypoint.sh
+  ENTRYPOINT ["/ros_entrypoint.sh"]
+  CMD ["bash"]
+  SAVE IMAGE --push osrf/space-ros:latest osrf/space-ros:$tag