Merge build/rmf branch to main

.github/workflows/docker-image.yml

@@ -0,0 +1,145 @@
+name: Docker Image CI
+
+on:
+  push:
+    branches: [ "main" ]
+  pull_request:
+    branches: [ "main" ]
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    ##############################################################
+    ## Configurations
+    ##############################################################
+    env:
+      builder_ns: ghcr.io/open-rmf/rmf_deployment_template
+      base_registry: docker.io
+      domain_url: rmf-deployment-template.open-rmf.org
+    ##############################################################
+    steps:
+      # ###
+      # Login to github packages, our container registry
+      # ###
+      - name: Login to Github Packages
+        uses: docker/login-action@v1
+        with:
+          registry: ghcr.io
+          username: ${{ github.actor }}
+          password: ${{ secrets.GHCR_PAT }}
+      -
+        name: Checkout
+        uses: actions/checkout@v3
+      - 
+        name: Install and run vcs import rmf
+        run: |
+          curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key  -o /usr/share/keyrings/ros-archive-keyring.gpg
+          echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | \
+          sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
+          sudo apt update
+          sudo apt install python3-vcstool -y
+          mkdir rmf-src
+          vcs import rmf-src < rmf/rmf.repos
+      # ###
+      # build builder images
+      # ###
+      -
+        name: Build builder-rosdep
+        uses: docker/build-push-action@v3
+        with:
+          context: .
+          file: rmf/builder-rosdep.Dockerfile
+          build-args: |
+            BASE_REGISTRY=${{ env.base_registry }}
+          # push: true
+          tags: ${{ env.builder_ns }}/builder-rosdep:latest
+      -
+        name: Build builder-rmf
+        uses: docker/build-push-action@v3
+        with:
+          context: .
+          file: rmf/builder-rmf.Dockerfile
+          build-args: |
+            BUILDER_NS=${{ env.builder_ns }}
+          # push: true
+          tags: ${{ env.builder_ns }}/builder-rmf:latest
+      - 
+        name: run vcs import rmf-web
+        run: |
+          mkdir rmf-web-src
+          vcs import rmf-web-src < rmf-web/rmf-web.repos
+      -
+        name: Build builder-rmf-web
+        uses: docker/build-push-action@v3
+        with:
+          context: .
+          file: rmf-web/builder-rmf-web.Dockerfile
+          build-args: |
+            BUILDER_NS=${{ env.builder_ns }}
+          # push: true
+          tags: ${{ env.builder_ns }}/builder-rmf-web:latest
+      - 
+        name: run vcs import rmf-simulation
+        run: |
+          mkdir rmf-simulation-src
+          vcs import rmf-simulation-src < rmf-simulation/rmf-simulation.repos
+      -
+        name: Build builder-rmf-simulation
+        uses: docker/build-push-action@v3
+        with:
+          context: .
+          file: rmf-simulation/builder-rmf-simulation.Dockerfile
+          build-args: |
+            BUILDER_NS=${{ env.builder_ns }}
+          # push: true
+          tags: ${{ env.builder_ns }}/builder-rmf-simulation:latest
+      # ###
+      # build rmf image
+      # ###
+      -
+        name: Build rmf docker img
+        uses: docker/build-push-action@v3
+        with:
+          context: .
+          file: rmf/rmf.Dockerfile
+          build-args: |
+            BUILDER_NS=${{ env.builder_ns }}
+          push: true
+          tags: ${{ env.builder_ns }}/rmf:latest
+      # ###
+      # build rmf simulation images
+      # ###
+      -
+        name: Build rmf-simulation
+        uses: docker/build-push-action@v3
+        with:
+          context: .
+          file: rmf-simulation/rmf-simulation.Dockerfile
+          build-args: |
+            BUILDER_NS=${{ env.builder_ns }}
+          push: true
+          tags: ${{ env.builder_ns }}/rmf-simulation:latest
+      # ###
+      # build rmf web images
+      # ###
+      -
+        name: Build rmf-web-rmf-server
+        uses: docker/build-push-action@v3
+        with:
+          context: .
+          file: rmf-web/rmf-web-rmf-server.Dockerfile
+          build-args: |
+            BUILDER_NS=${{ env.builder_ns }}
+          push: true
+          tags: ${{ env.builder_ns }}/rmf-web-rmf-server:latest
+      -
+        name: Build rmf-web-dashboard
+        uses: docker/build-push-action@v3
+        with:
+          context: .
+          file: rmf-web/rmf-web-dashboard.Dockerfile
+          build-args: |
+            BASE_REGISTRY=${{ env.base_registry }}
+            DOMAIN_URL=${{ env.domain_url }}
+            BUILDER_NS=${{ env.builder_ns }}
+          push: true
+          tags: ${{ env.builder_ns }}/rmf-web-dashboard:latest

README.md

@@ -1,10 +1,12 @@
+[![.github/workflows/docker-image.yml](https://github.com/open-rmf/rmf_deployment_template/actions/workflows/docker-image.yml/badge.svg)](https://github.com/open-rmf/rmf_deployment_template/actions/workflows/docker-image.yml)
+
 # RMF Deployment Template
 This repo provides a sample template to build, deploy and manage an RMF installation (i.e. GitOps for RMF)
 
 This repo is structured as -
-- `main` - Intro
-- `build/rmf` - Build Dockerfiles and CI pipeline
-- `cloud_infra` - Cloud cluster bringup scripts and docs and runtime configs
+- `main` - Contains Dockerfiles and CI pipeline to build images for this example deployment
+- `build/rmf-site` - Contains example rmf-site related resources, dockerfiles and CI process
+- `cloud_infra` - Cloud cluster bringup scripts, resources and runtime configs
 
 _(These branches may be setup as independant repos for a production environment, the intent in having them as branches here is to provide a concise one-stop location for easy reference.)_
 

rmf-simulation/builder-rmf-simulation.Dockerfile

@@ -0,0 +1,34 @@
+ARG BUILDER_NS="open-rmf/rmf_deployment_template"
+
+FROM $BUILDER_NS/builder-rmf
+
+SHELL ["bash", "-c"]
+
+RUN apt update
+WORKDIR /opt/rmf
+
+# copy rmf-simulation source files
+COPY rmf-simulation-src src
+
+RUN rosdep update --rosdistro $ROS_DISTRO
+RUN rosdep install --from-paths src --ignore-src --rosdistro $ROS_DISTRO \
+    --skip-keys roscpp  \
+    --skip-keys actionlib \ 
+    --skip-keys rviz \ 
+    --skip-keys catkin \ 
+    --skip-keys move_base \ 
+    --skip-keys amcl \ 
+    --skip-keys turtlebot3_navigation \ 
+    --skip-keys turtlebot3_bringup \ 
+    --skip-keys move_base_msgs \ 
+    --skip-keys dwa_local_planner \ 
+    --skip-keys map_server \
+    -y
+
+RUN . /opt/ros/$ROS_DISTRO/setup.sh \
+  && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
+
+RUN sed -i '$isource "/opt/rmf/install/setup.bash"' /ros_entrypoint.sh
+
+ENTRYPOINT ["/ros_entrypoint.sh"]
+CMD ["bash"]

rmf-simulation/rmf-simulation.Dockerfile

@@ -0,0 +1,12 @@
+ARG BUILDER_NS="open-rmf/rmf_deployment_template"
+
+FROM $BUILDER_NS/builder-rmf-simulation
+
+SHELL ["bash", "-c"]
+
+ENV RMF_SIMULATION_MAP_PACKAGE=rmf_demos_maps
+ENV RMF_SIMULATION_MAP_NAME=office
+ENV GAZEBO_VERSION=11
+
+ENTRYPOINT ["/ros_entrypoint.sh"]
+CMD ["bash"]

rmf-simulation/rmf-simulation.repos

@@ -0,0 +1,5 @@
+repositories:
+  rmf/rmf_demos:
+    type: git
+    url: https://github.com/open-rmf/rmf_demos.git
+    version: main

rmf-web/builder-rmf-web.Dockerfile

@@ -0,0 +1,21 @@
+ARG BUILDER_NS="open-rmf/rmf_deployment_template"
+
+FROM $BUILDER_NS/builder-rmf
+
+SHELL ["bash", "-c"]
+
+# copy rmf-web source files
+COPY rmf-web-src src
+
+RUN  curl -sL https://deb.nodesource.com/setup_14.x | bash - && \
+  apt-get update && apt-get install -y nodejs
+RUN pip3 install pipenv
+
+RUN cd /opt/rmf/src/rmf-web &&  \
+  sed -i '$ d' Pipfile && \
+  npm install -g npm@latest && \
+  npm config set unsafe-perm && \
+  npm ci
+
+ENTRYPOINT ["/ros_entrypoint.sh"]
+CMD ["bash"]

rmf-web/dashboard_resources/main.json

@@ -0,0 +1,38 @@
+{
+    "dispensers":{},
+    "robots":{
+        "cleanerBotA":{
+            "icons":{
+                "cleanerBotA":"/cleanerBotA.png"
+            }
+        },
+        "cleanerBotE":{
+            "icons":{
+                "cleanerBotE":"/cleanerBotE.png"
+            }
+        },
+        "caddy":{
+            "icons":{
+                "caddy":"/caddy.png"
+            }
+        },
+        "deliveryRobot":{
+            "icons":{
+                "deliveryRobot":"/deliveryRobot.png"
+            }
+        },
+        "tinyRobot":{
+            "icons":{
+                "tinyRobot":"/tinyRobot.png"
+            }
+        }
+    },
+    "logos":{
+        "headerLogo":{
+            "icons":{
+                "headerLogo":"/headerLogo.png"
+            }
+        }
+    }
+}
+

rmf-web/rmf-web-dashboard.Dockerfile

@@ -0,0 +1,50 @@
+ARG BUILDER_NS="open-rmf/rmf_deployment_template"
+ARG BASE_REGISTRY="docker.io"
+
+###################################################################
+FROM $BUILDER_NS/builder-rmf-web
+ARG DOMAIN_URL="rmf-deployment-template.open-rmf.org"
+
+SHELL ["bash", "-c"]
+
+RUN mkdir /opt/rmf/src/rmf-web/packages/dashboard/src/assets/resources
+COPY rmf-web/dashboard_resources/* /opt/rmf/src/rmf-web/packages/dashboard/src/assets/resources/
+
+RUN . /opt/rmf/install/setup.bash 
+
+WORKDIR /opt/rmf/src/rmf-web
+
+ENV PUBLIC_URL="/dashboard"
+ENV REACT_APP_TRAJECTORY_SERVER="wss://${DOMAIN_URL}/trajectory"
+ENV REACT_APP_RMF_SERVER="https://${DOMAIN_URL}/rmf/api/v1"
+ENV REACT_APP_AUTH_PROVIDER="keycloak"
+ENV REACT_APP_KEYCLOAK_CONFIG='{"realm": "rmf-web", "clientId": "dashboard", "url" : "https://'${DOMAIN_URL}'/auth"}'
+
+RUN echo "DOMAIN_URL: $DOMAIN_URL"\ 
+    && echo "REACT_APP_TRAJECTORY_SERVER: $REACT_APP_TRAJECTORY_SERVER"\
+    && echo "REACT_APP_RMF_SERVER: $REACT_APP_RMF_SERVER"\
+    && echo "REACT_APP_AUTH_PROVIDER: $REACT_APP_AUTH_PROVIDER"\
+    && echo "REACT_APP_KEYCLOAK_CONFIG: $REACT_APP_KEYCLOAK_CONFIG"
+
+RUN cd /opt/rmf/src/rmf-web/packages/dashboard && npm run build
+
+###
+FROM $BASE_REGISTRY/nginx:stable 
+COPY --from=0 /opt/rmf/src/rmf-web/packages/dashboard/build /usr/share/nginx/html/dashboard
+
+SHELL ["bash", "-c"]
+RUN echo -e 'server {\n\
+  listen 80;\n\
+  server_name localhost;\n\
+\n\
+  location / {\n\
+    root /usr/share/nginx/html;\n\
+    index index.html index.htm;\n\
+    try_files $uri /dashboard/index.html;\n\
+  }\n\
+\n\
+  error_page 500 502 503 504 /50x.html;\n\
+  location = /50x.html {\n\
+    root /usr/share/nginx/html;\n\
+  }\n\
+}\n' > /etc/nginx/conf.d/default.conf

rmf-web/rmf-web-rmf-server.Dockerfile

@@ -0,0 +1,30 @@
+ARG BUILDER_NS="open-rmf/rmf_deployment_template"
+
+FROM $BUILDER_NS/builder-rmf-web
+
+SHELL ["bash", "-c"]
+
+ENV RMF_SERVER_USE_SIM_TIME=true
+
+RUN . /opt/rmf/install/setup.bash && \
+  cd /opt/rmf/src/rmf-web/packages/api-server && npm run prepack
+
+FROM $BUILDER_NS/builder-rmf-web
+
+COPY --from=0 /opt/rmf/src/rmf-web/packages/api-server/dist/ .
+
+SHELL ["bash", "-c"]
+RUN pip3 install $(ls -1 | grep '.*.whl')[postgres]
+RUN pip3 install paho-mqtt
+
+# cleanup
+RUN rm -rf /opt/rmf/src
+RUN rm -rf /var/lib/apt/lists && \
+  npm cache clean --force
+
+RUN echo -e '#!/bin/bash\n\
+  . /opt/rmf/install/setup.bash\n\
+  exec rmf_api_server "$@"\n\
+  ' > /docker-entry-point.sh && chmod +x /docker-entry-point.sh
+
+ENTRYPOINT ["/docker-entry-point.sh"]

rmf-web/rmf-web.repos

@@ -0,0 +1,5 @@
+repositories:
+  rmf-web:
+    type: git
+    url: https://github.com/open-rmf/rmf-web
+    version: main