Add Docker files for GUI application (#278)

* Added docker files

* Added workflow for building docker image

* Changed method that java libraries locations are appended to LD_LIBRARY_PATH

.github/workflows/docker.yml

@@ -0,0 +1,62 @@
+name: Docker
+
+on:
+  push:
+    branches:
+      - master
+      - dev
+  pull_request:
+  release:
+    types:
+      - released
+
+jobs:
+  ci:
+    name: ${{ matrix.os }}
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [focal, jammy, noble]
+    env:
+      REGISTRY: ghcr.io
+      IMAGE_NAME: ${{ github.repository }}
+      PUSH_DOCKER_IMAGE: ${{ github.ref == 'refs/heads/master' || github.event_name == 'release' }}
+    permissions:
+      contents: read
+      packages: write
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Log in to the Container registry
+        uses: docker/login-action@v3
+        with:
+          registry: ${{ env.REGISTRY }}
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Extract Docker meta-information
+        id: meta
+        uses: docker/metadata-action@v5
+        with:
+          images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}
+          flavor: |
+            latest=false
+            prefix=
+            suffix=
+          tags: |
+            type=ref,event=branch,prefix=${{ matrix.os }}-
+            type=ref,event=pr,prefix=${{ matrix.os }}-
+            type=semver,pattern={{major}}.{{minor}},prefix=${{ matrix.os }}-
+
+      - name: Build and push Docker image
+        uses: docker/build-push-action@v5
+        with:
+          context: .
+          file: docker/Dockerfile
+          build-args: |
+            TAG=${{ matrix.os }}
+          push: ${{ env.PUSH_DOCKER_IMAGE }}
+          tags: ${{ steps.meta.outputs.tags }}
+          labels: ${{ steps.meta.outputs.labels }}

docker/Dockerfile

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+ARG TAG=jammy
+FROM ubuntu:${TAG}
+
+SHELL ["/bin/bash", "-c"]
+
+ENV DEBIAN_FRONTEND noninteractive
+
+USER root
+
+# Install
+RUN apt update \
+  && apt upgrade -y \
+  && apt install -y cmake curl git python3
+
+# Add ROS2 sources to install ROS infrastructure tools
+RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \
+  && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
+
+# Install and configure ROS infrastructure tools
+RUN apt update \
+  && apt install -y python3-vcstool python3-colcon-common-extensions python3-rosdep \
+  && rosdep init \
+  && rosdep update
+
+# Bind mount the source directory so as not to unnecessarily copy source code into the docker image
+ARG WORKSPACE_DIR=/opt/noether
+RUN --mount=type=bind,target=${WORKSPACE_DIR}/src/noether \
+  apt update -y -qq \
+  && vcs import ${WORKSPACE_DIR}/src < ${WORKSPACE_DIR}/src/noether/dependencies.repos --shallow \
+  && rosdep install \
+    --from-paths ${WORKSPACE_DIR}/src \
+    -iry \
+    --skip-keys libvtk
+
+# Build the repository
+# Bind mount the source directory so as not to unnecessarily copy source code into the docker image
+RUN --mount=type=bind,target=${WORKSPACE_DIR}/src/noether \
+  cd ${WORKSPACE_DIR} \
+  && colcon build --cmake-args \
+  && rm -rf build log
+
+# Set the entrypoint to source the workspace
+COPY docker/entrypoint.sh /entrypoint.sh
+ENTRYPOINT ["/entrypoint.sh"]

docker/docker-compose.override.yml

@@ -0,0 +1,12 @@
+# Uncomment for use with GPU
+# services:
+#   noether:
+#     environment:
+#       NVIDIA_DRIVER_CAPABILITIES: all
+#     deploy:
+#       resources:
+#         reservations:
+#           devices:
+#             - driver: nvidia
+#               count: 1
+#               capabilities: [gpu]

docker/docker-compose.yml

@@ -0,0 +1,21 @@
+services:
+  noether:
+    build:
+      context: ..
+      dockerfile: docker/Dockerfile
+      args:
+        TAG: jammy
+    environment:
+      DISPLAY: $DISPLAY
+      XAUTHORITY: $XAUTHORITY
+      LD_LIBRARY_PATH_ADDITIONS: /usr/lib/jvm/java-11-openjdk-amd64/lib:/usr/lib/jvm/java-11-openjdk-amd64/lib/server
+    container_name: noether
+    image: ghcr.io/ros-industrial/noether:jammy
+    stdin_open: true
+    tty: true
+    network_mode: host
+    privileged: false
+    user: ${CURRENT_UID}  # CURRENT_UID=$(id -u):$(id -g)
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix
+      # - <path>/<to>/<meshes>:/meshes  # Mount a local directory with meshes to /meshes in the docker container

docker/entrypoint.sh

@@ -0,0 +1,4 @@
+#! /bin/bash
+source /opt/noether/install/setup.bash
+export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$LD_LIBRARY_PATH_ADDITIONS
+./opt/noether/install/noether_gui/bin/noether_gui_app