Split scenario and gym-ignition Python packages

.docker/base.Dockerfile

@@ -59,21 +59,4 @@ RUN add-apt-repository ppa:git-core/ppa &&\
 ENV VIRTUAL_ENV=/venv
 ENV PATH=$VIRTUAL_ENV/bin:$PATH
 
-# Install iDynTree
-RUN apt-get update &&\
-    apt-get install -y --no-install-recommends \
-        python3-numpy libxml2-dev coinor-libipopt-dev libeigen3-dev &&\
-    rm -rf /var/lib/apt/lists/* &&\
-    git clone --depth 1 -b devel https://github.com/robotology/idyntree /tmp/idyntree &&\
-    mkdir -p /tmp/idyntree/build && cd /tmp/idyntree/build &&\
-    cmake .. \
-        -GNinja \
-        -DCMAKE_BUILD_TYPE=Release \
-        -DBUILD_SHARED_LIBS:BOOL=OFF \
-        -DIDYNTREE_USES_PYTHON=True \
-        -DIDYNTREE_USES_IPOPT:BOOL=ON \
-        &&\
-    cmake --build . --target install &&\
-    rm -r /tmp/idyntree
-
 CMD ["bash"]

.docker/cicd-devel.Dockerfile

@@ -1,76 +1,24 @@
 ARG from=diegoferigo/gym-ignition:base
 FROM ${from}
 
-ARG IGNITION_DEFAULT_CHANNEL="stable"
-RUN echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-${IGNITION_DEFAULT_CHANNEL} `lsb_release -cs` main" > \
-        /etc/apt/sources.list.d/gazebo-${IGNITION_DEFAULT_CHANNEL}.list &&\
-    wget http://packages.osrfoundation.org/gazebo.key -O - | apt-key add - &&\
-    apt-get update &&\
-    apt-get install -y --no-install-recommends \
-        cmake \
-        freeglut3-dev \
-        libavcodec-dev \
-        libavdevice-dev \
-        libavformat-dev \
-        libavutil-dev \
-        libbenchmark-dev \
-        libcurl4-openssl-dev \
-        libfreeimage-dev \
-        libgflags-dev \
-        libglew-dev \
-        libgts-dev \
-        libjsoncpp-dev \
-        libogre-1.9-dev \
-        libogre-2.1-dev \
-        libprotobuf-dev \
-        libprotoc-dev \
-        libqt5core5a \
-        libsqlite3-dev \
-        libswscale-dev \
-        libtinyxml-dev \
-        libtinyxml2-dev \
-        libwebsockets-dev \
-        libyaml-dev \
-        libzip-dev \
-        libzmq3-dev \
-        pkg-config \
-        protobuf-compiler \
-        python \
-        qml-module-qt-labs-folderlistmodel \
-        qml-module-qt-labs-settings \
-        qml-module-qtqml-models2 \
-        qml-module-qtquick-controls \
-        qml-module-qtquick-controls2 \
-        qml-module-qtquick-dialogs \
-        qml-module-qtquick-layouts \
-        qml-module-qtquick2 \
-        qtbase5-dev \
-        qtdeclarative5-dev \
-        qtquickcontrols2-5-dev \
-        ruby \
-        ruby-dev \
-        ruby-ronn \
-        swig \
-        uuid-dev \
-        # Additional
-        libdart-collision-ode-dev \
-        libdart-dev \
-        libdart-external-ikfast-dev \
-        libdart-external-odelcpsolver-dev \
-        libdart-utils-urdf-dev \
-        &&\
-    rm -rf /var/lib/apt/lists/*
-
 RUN pip3 install vcstool colcon-common-extensions &&\
     rm -r $HOME/.cache/pip
 
 ARG CMAKE_BUILD_TYPE="Release"
-ARG ignition_codename="citadel"
+ARG ignition_codename="edifice"
+ARG IGNITION_DEFAULT_CHANNEL="stable"
 
-RUN mkdir -p /workspace/src &&\
+RUN echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-${IGNITION_DEFAULT_CHANNEL} `lsb_release -cs` main" > \
+        /etc/apt/sources.list.d/gazebo-${IGNITION_DEFAULT_CHANNEL}.list &&\
+    wget http://packages.osrfoundation.org/gazebo.key -O - | apt-key add - &&\
+    apt-get update &&\
+    mkdir -p /workspace/src &&\
     cd /workspace/src &&\
     wget https://raw.githubusercontent.com/ignition-tooling/gazebodistro/master/collection-${ignition_codename}.yaml &&\
     vcs import < collection-${ignition_codename}.yaml &&\
+    apt -y install --no-install-recommends \
+        $(sort -u $(find . -iname 'packages-'$(lsb_release -cs)'.apt' -o -iname 'packages.apt') | grep -v -E "dart|^libignition|^libsdformat" | tr '\n' ' ') &&\
+    rm -rf /var/lib/apt/lists/* &&\
     cd /workspace &&\
     colcon graph &&\
     colcon build \
@@ -80,6 +28,7 @@ RUN mkdir -p /workspace/src &&\
             -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} \
         --merge-install \
         &&\
+    find build/ -type f -not -name 'CMakeCache.txt' -delete &&\
     echo "source /workspace/install/setup.bash" >> /etc/bash.bashrc
 
 COPY entrypoint.sh /entrypoint.sh

.docker/cicd-master.Dockerfile

@@ -2,7 +2,7 @@ ARG from=diegoferigo/gym-ignition:base
 FROM ${from}
 
 # Install ignition gazebo
-ARG ignition_codename="citadel"
+ARG ignition_codename="edifice"
 RUN echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" \
         > /etc/apt/sources.list.d/gazebo-stable.list &&\
     wget http://packages.osrfoundation.org/gazebo.key -O - | apt-key add - &&\