Revert "build: remove deprecated Dockerfiles and scripts and update i…

…nstallation instructions (#176)"

This reverts commit 08657ae.

.github/workflows/build-test.yml

@@ -60,7 +60,7 @@ jobs:
             exit 1
           fi
           DEMO_CMAKE="./demos/CMakeLists.txt"
-          if [ $(echo $(grep "find_package(control_libraries" "${DEMO_CMAKE}") | tr -d -c 0-9) -ne "${VERSION}" ]; then
+          if [ $(echo $(grep "project(clproto VERSION" "${DEMO_CMAKE}") | tr -d -c 0-9) -ne "${VERSION}" ]; then
             echo "::error file="${DEMO_CMAKE}",title=Check failed::Version in "${DEMO_CMAKE}" does not correspond to VERSION. ${MESSAGE}"
             exit 1
           fi

.github/workflows/generate-docs.yml

@@ -1,6 +1,6 @@
 name: Generate and Deploy Documentation
 on:
-  push:
+  push:   
     branches:
       - main
 

CHANGELOG.md

@@ -13,7 +13,6 @@ Release Versions:
 
 ## Upcoming changes (in development)
 
-- build: remove deprecated Dockerfiles and scripts and update installation instructions (#176)
 - refactor: optimize copy and swap constructor for robot model (#174)
 - fix: refactor cmake project to deal with robot model dependencies (#178)
 - feat: integrate minimum distance calculation feature into robot model(#167)

CMakeLists.txt

@@ -1,12 +1,8 @@
 cmake_minimum_required(VERSION 3.15)
 project(all_control_libraries)
 
-option(BUILD_PROTOCOL "Build and install the protocol" ON)
-
 add_subdirectory(source)
-if(BUILD_PROTOCOL)
-  add_subdirectory(protocol/clproto_cpp)
-endif()
+add_subdirectory(protocol/clproto_cpp)
 
 if(BUILD_TESTING)
   # reexport the test target defined in the subdirectories

Dockerfile

@@ -7,6 +7,7 @@ RUN apt-get update && apt-get install -y \
     g++ \
     git \
     libgtest-dev \
+    libeigen3-dev \
     python3-pip \
     ssh \
     sudo \
@@ -82,7 +83,7 @@ ARG TARGETPLATFORM
 ARG CACHEID
 COPY dependencies/base_dependencies.cmake CMakeLists.txt
 RUN --mount=type=cache,target=/build,id=cmake-base-deps-${TARGETPLATFORM}-${CACHEID},uid=1000 \
-  cmake -B build -DBUILD_TESTING=OFF -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} && cmake --build build && cmake --install build --prefix /tmp/deps
+  cmake -B build -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} && cmake --build build && cmake --install build --prefix /tmp/deps
 
 FROM base as pinocchio-dependencies
 COPY --from=apt-dependencies /tmp/apt /
@@ -125,7 +126,6 @@ FROM base as dependencies
 ARG TARGETPLATFORM
 ARG CACHEID
 # Needed to build `osqp-eigen`
-COPY --from=apt-dependencies /tmp/apt /
 COPY --from=base-dependencies /tmp/deps /usr
 COPY dependencies/dependencies.cmake CMakeLists.txt
 RUN --mount=type=cache,target=/build,id=cmake-deps-${TARGETPLATFORM}-${CACHEID},uid=1000 \

Dockerfile.base

@@ -0,0 +1,160 @@
+ARG BASE_TAG=22.04
+FROM ubuntu:${BASE_TAG} as core-build-dependencies
+ENV DEBIAN_FRONTEND=noninteractive
+
+# install core compilation and access dependencies for building the libraries
+RUN apt-get update && apt-get install -y \
+    autoconf \
+    automake \
+    build-essential \
+    cmake \
+    curl \
+    g++ \
+    gcc \
+    git \
+    gnupg2 \
+    libtool \
+    lsb-release \
+    make \
+    pkg-config \
+    wget \
+    && apt-get clean \
+    && rm -rf /var/lib/apt/lists/*
+
+
+FROM core-build-dependencies as google-dependencies
+
+RUN apt-get update && apt-get install -y \
+    libgtest-dev \
+    && apt-get clean \
+    && rm -rf /var/lib/apt/lists/*
+
+# install gtest
+WORKDIR /tmp
+RUN mkdir gtest_build && cd gtest_build && cmake /usr/src/gtest && make -j \
+    && cp lib/* /usr/local/lib || cp *.a /usr/local/lib
+
+RUN rm -rf /tmp/* && ldconfig
+
+
+FROM core-build-dependencies as robot-model-dependencies
+
+RUN apt-get update && apt-get install -y \
+    libboost-all-dev \
+    liburdfdom-dev \
+    && apt-get clean \
+    && rm -rf /var/lib/apt/lists/*
+
+WORKDIR /tmp
+ARG EIGEN_TAG=3.4.0
+RUN wget -c https://gitlab.com/libeigen/eigen/-/archive/${EIGEN_TAG}/eigen-${EIGEN_TAG}.tar.gz -O - | tar -xz \
+    && cd eigen-${EIGEN_TAG} && mkdir build && cd build && env CXXFLAGS=-DEIGEN_MPL2_ONLY cmake .. && make install \
+    && cd ../.. && rm -r eigen-${EIGEN_TAG} || exit 1
+
+ARG OSQP_TAG=0.6.2
+RUN git clone --depth 1 -b v${OSQP_TAG} --recursive https://github.com/oxfordcontrol/osqp \
+    && cd osqp && mkdir build && cd build && cmake -G "Unix Makefiles" .. && cmake --build . --target install \
+    && cd ../.. && rm -r osqp || exit 1
+
+ARG OSQP_EIGEN_TAG=0.6.4
+RUN git clone --depth 1 -b v${OSQP_EIGEN_TAG} https://github.com/robotology/osqp-eigen.git \
+    && cd osqp-eigen && mkdir build && cd build && cmake .. && make -j && make install \
+    && cd ../.. && rm -r osqp-eigen || exit 1
+
+ARG PINOCCHIO_TAG=2.6.9
+RUN git clone --depth 1 -b v${PINOCCHIO_TAG} --recursive https://github.com/stack-of-tasks/pinocchio \
+    && cd pinocchio && mkdir build && cd build \
+    && cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local -DBUILD_PYTHON_INTERFACE=OFF \
+    -DBUILD_TESTING=OFF && make -j $(nproc --ignore=1) && make install && cd ../.. && rm -r pinocchio || exit 1
+
+RUN ldconfig
+
+
+FROM robot-model-dependencies as development-dependencies
+RUN apt-get update && apt-get install -y \
+    clang \
+    gdb \
+    python3 \
+    python3-dev \
+    python3-pip \
+    tar \
+    unzip \
+    && apt-get clean \
+    && rm -rf /var/lib/apt/lists/*
+
+# install python requirements
+RUN pip3 install pytest numpy setuptools pybind11
+
+# install google dependencies
+COPY --from=google-dependencies /usr/include/gtest /usr/include/gtest
+COPY --from=google-dependencies /usr/local/lib/libgtest* /usr/local/lib/
+
+
+FROM development-dependencies as proto-dependencies-20.04
+COPY --from=ghcr.io/aica-technology/control-libraries/proto-dependencies:20.04 /usr/local/include/google /usr/local/include/google
+COPY --from=ghcr.io/aica-technology/control-libraries/proto-dependencies:20.04 /usr/local/lib/libproto* /usr/local/lib/
+COPY --from=ghcr.io/aica-technology/control-libraries/proto-dependencies:20.04 /usr/local/bin/protoc /usr/local/bin
+RUN ldconfig
+
+
+FROM development-dependencies as proto-dependencies-22.04
+COPY --from=ghcr.io/aica-technology/control-libraries/proto-dependencies:22.04 /usr/local/include/google /usr/local/include/google
+COPY --from=ghcr.io/aica-technology/control-libraries/proto-dependencies:22.04 /usr/local/lib/libproto* /usr/local/lib/
+COPY --from=ghcr.io/aica-technology/control-libraries/proto-dependencies:22.04 /usr/local/bin/protoc /usr/local/bin
+RUN ldconfig
+
+
+FROM development-dependencies as proto-dependencies-latest
+COPY --from=ghcr.io/aica-technology/control-libraries/proto-dependencies:latest /usr/local/include/google /usr/local/include/google
+COPY --from=ghcr.io/aica-technology/control-libraries/proto-dependencies:latest /usr/local/lib/libproto* /usr/local/lib/
+COPY --from=ghcr.io/aica-technology/control-libraries/proto-dependencies:latest /usr/local/bin/protoc /usr/local/bin
+RUN ldconfig
+
+
+FROM proto-dependencies-${BASE_TAG} as license-information
+RUN mkdir -p /usr/share/doc/control-libraries
+COPY ./licenses /usr/share/doc/control-libraries/licenses
+
+
+FROM license-information as ssh-configuration
+
+RUN apt-get update && apt-get install -y \
+    sudo \
+    libssl-dev \
+    ssh \
+    iputils-ping \
+    rsync \
+    && apt-get clean \
+    && rm -rf /var/lib/apt/lists/*
+
+# Configure sshd server settings
+RUN ( \
+    echo 'LogLevel DEBUG2'; \
+    echo 'PubkeyAuthentication yes'; \
+    echo 'Subsystem sftp /usr/lib/openssh/sftp-server'; \
+  ) > /etc/ssh/sshd_config_development \
+  && mkdir /run/sshd
+
+ENV USER developer
+ENV HOME /home/${USER}
+
+# create and configure a new user
+ARG UID=1000
+ARG GID=1000
+RUN addgroup --gid ${GID} ${USER}
+RUN adduser --gecos "Remote User" --uid ${UID} --gid ${GID} ${USER} && yes | passwd ${USER}
+RUN usermod -a -G dialout ${USER}
+RUN echo "${USER} ALL=(ALL) NOPASSWD: ALL" > /etc/sudoers.d/99_aptget
+RUN chmod 0440 /etc/sudoers.d/99_aptget && chown root:root /etc/sudoers.d/99_aptget
+
+# Configure sshd entrypoint to authorise the new user for ssh access and
+# optionally update UID and GID when invoking the container with the entrypoint script
+COPY ./docker/sshd_entrypoint.sh /sshd_entrypoint.sh
+RUN chmod 744 /sshd_entrypoint.sh
+
+# create the credentials to be able to pull private repos using ssh
+RUN mkdir /root/.ssh/ && ssh-keyscan github.com | tee -a /root/.ssh/known_hosts
+
+RUN echo "session required pam_limits.so" | tee --append /etc/pam.d/common-session > /dev/null
+
+WORKDIR ${HOME}

Dockerfile.proto

@@ -0,0 +1,34 @@
+ARG BASE_TAG=22.04
+FROM ubuntu:${BASE_TAG} as build-stage
+ENV DEBIAN_FRONTEND=noninteractive
+
+RUN apt-get update && apt-get install -y \
+    autoconf \
+    cmake \
+    g++ \
+    gcc \
+    libtool \
+    make \
+    wget \
+    && apt-get clean \
+    && rm -rf /var/lib/apt/lists/*
+
+WORKDIR /tmp
+ARG PROTOBUF_VERSION=21.0
+RUN wget -O protobuf-cpp-"${PROTOBUF_VERSION}".tar.gz \
+    https://github.com/protocolbuffers/protobuf/releases/download/v${PROTOBUF_VERSION}/protobuf-cpp-3.${PROTOBUF_VERSION}.tar.gz \
+    && tar -xzf protobuf-cpp-"${PROTOBUF_VERSION}".tar.gz \
+    && rm protobuf-cpp-"${PROTOBUF_VERSION}".tar.gz
+
+WORKDIR /tmp/protobuf-3."${PROTOBUF_VERSION}"
+RUN ./autogen.sh \
+    && ./configure \
+    && make -j $(nproc --ignore=1) \
+    && make install
+
+
+FROM ubuntu:${BASE_TAG} as google-dependencies
+COPY --from=build-stage /usr/local/include/google /usr/local/include/google
+COPY --from=build-stage /usr/local/lib/libproto* /usr/local/lib/
+COPY --from=build-stage /usr/local/bin/protoc /usr/local/bin
+RUN ldconfig