Add dev docker and compose file that launches Qt Creator

README.md

@@ -86,6 +86,26 @@ How to create:
 * Create Video: `gource -1280x720 -seconds-per-day 0.2 --auto-skip-seconds 0.2 --disable-bloom -background d0d3d4 --hide filenames,mouse,progress -o - | ffmpeg -y -r 60 -f image2pipe -vcodec ppm -i - -vcodec libx264 -preset ultrafast -pix_fmt yuv420p -crf 1 -threads 0 -bf 0 gource.mp4`
 * Create Gif: `ffmpeg -i gource.mp4 -r 10 -vf "scale=800:-1,split[s0][s1];[s0]palettegen[p];[s1][p]paletteuse" tesseract_evolution.gif`
 
+## Docker Development Container
+
+It common to leverage docker to develop for different distributions of Ubuntu, so a docker compose file has been provided to simplify this process for Tesseract development.
+
+Initial setup, you must create directories for the different distributions to save Qt Creator configs so they persist.
+
+``` bash
+mkdir ~/.config/QtProjectDocker
+mkdir ~/.config/QtProjectDocker/focal
+mkdir ~/.config/QtProjectDocker/noetic
+mkdir ~/.config/QtProjectDocker/jammy
+```
+
+Now you can start the development docker. Replace focal with what ubuntu distro you want to develope with.
+
+``` bash
+cd <path to tesseract repo>/docker
+USER_ID=$(id -u) GROUP_ID=$(id -g) UBUNTU_TAG=focal docker compose -f docker-compose-dev.yaml up --build --remove-orphans
+```
+
 ## TODO's
 
 Warning: These packages are under heavy development and are subject to change.

docker/DockerfileDev

@@ -0,0 +1,89 @@
+ARG UBUNTU_TAG
+FROM ubuntu:${UBUNTU_TAG}
+
+SHELL ["/bin/bash", "-c"]
+
+ENV DEBIAN_FRONTEND noninteractive
+
+# Install
+RUN apt update \
+  && apt upgrade -y \
+  && apt install -y sudo cmake curl git python3 wget gnupg2 g++ gcc software-properties-common locales \
+  && locale-gen en_US.UTF-8
+
+# Set environment variables to use UTF-8
+ENV LANG=en_US.UTF-8
+ENV LANGUAGE=en_US:en
+ENV LC_ALL=en_US.UTF-8
+
+# Add ROS Independent Colcon
+RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \
+  && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
+
+# Add Gazebo
+RUN curl https://packages.osrfoundation.org/gazebo.gpg --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
+RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
+
+# Add Colcon
+RUN curl -s https://packagecloud.io/install/repositories/dirk-thomas/colcon/script.deb.sh | bash
+
+# Add Tesseract Robotics PPA
+RUN add-apt-repository ppa:levi-armstrong/tesseract-robotics
+
+# Install the dependency repositories
+RUN apt update \
+  && apt install -y \
+  python3-colcon-common-extensions \
+  libeigen3-dev \
+  libboost-all-dev \
+  coinor-libipopt-dev \
+  liborocos-kdl-dev \
+  libconsole-bridge-dev \
+  liboctomap-dev \
+  libfcl-dev \
+  libpcl-dev \
+  libompl-dev \
+  libyaml-cpp-dev \
+  libtinyxml2-dev \
+  libbullet-dev \
+  libbullet-extras-dev \
+  libgraphviz-dev \
+  libqwt-qt5-dev \
+  libqt5svg5-dev \
+  libqglviewer-dev-qt5 \
+  libxcb-cursor-dev \
+  libgz-rendering7-dev \
+  libgz-common5-av-dev \
+  libgz-common5-profiler-dev \
+  taskflow \
+  qt-advanced-docking-system
+
+# Install the Qt Creator and Plugin
+RUN wget https://download.qt.io/official_releases/qtcreator/14.0/14.0.2/cpack_experimental/qtcreator-opensource-linux-x86_64-14.0.2.deb \
+  && dpkg -i qtcreator-opensource-linux-x86_64-14.0.2.deb \
+  && echo 'export PATH=$PATH:/opt/qt-creator/bin' >> ~/.bashrc \
+  && echo 'export PATH=$PATH:/opt/qt-creator/bin' >> ~/.profile \
+  && echo 'export XDG_DATA_DIRS=$XDG_DATA_DIRS:/opt/qt-creator/share/' >> ~/.profile \
+  && wget https://github.com/ros-industrial/ros_qtc_plugin/releases/download/14.2/ROSProjectManager-14.2-Linux-x86_64.deb \
+  && dpkg -i ROSProjectManager-14.2-Linux-x86_64.deb
+
+# Define build arguments for USERNAME, UID, and GID
+ARG USERNAME
+ARG USER_ID
+ARG GROUP_ID
+
+# Echo Args
+RUN echo "USERNAME: ${USERNAME}" \
+  && echo "USER_ID: ${USER_ID}" \
+  && echo "GROUP_ID: ${GROUP_ID}" \
+  && echo ""
+
+# Create a group and user with the specified username, UID, and GID
+RUN groupadd -g ${GROUP_ID} ${USERNAME} \
+  && useradd -l -m -u ${USER_ID} -g ${GROUP_ID} -s /bin/bash ${USERNAME} -d /home/${USERNAME} \
+  && chown ${USER_ID}:${GROUP_ID} /home/${USERNAME} \
+  && echo "${USERNAME} ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers
+
+# Set the default user
+USER ${USERNAME}
+WORKDIR /home/${USERNAME}

docker/docker-compose-dev.yaml

@@ -0,0 +1,37 @@
+# Must create the following directories on the host machine
+#  - ~/.config/QtProjectDocker/focal
+#  - ~/.config/QtProjectDocker/noetic
+#  - ~/.config/QtProjectDocker/jammy
+# Below is the example docker composer command
+#  - USER_ID=$(id -u) GROUP_ID=$(id -g) UBUNTU_TAG=focal docker compose -f docker-compose-dev.yaml up --build --remove-orphans
+services:
+  qtcreator:
+    build:
+        context: .
+        dockerfile: DockerfileDev
+        args:
+          UBUNTU_TAG: "${UBUNTU_TAG}"
+          USERNAME: "${USER}"    # Passes the host user's username
+          USER_ID: "${USER_ID}"      # Passes the host user's UID
+          GROUP_ID: "${GROUP_ID}"     # Passes the host user's GID
+    volumes:
+      - ~/catkin_ws/:/home/${USERNAME}/catkin_ws # Mount the project directory
+      - ~/.config/QtProjectDocker/${UBUNTU_TAG}:/home/${USERNAME}/.config/QtProject # Mount the QtCreator config location so changes persist
+      - /tmp/.X11-unix:/tmp/.X11-unix # Enable X11 forwarding
+      - /etc/hosts:/etc/hosts
+      - /dev/shm:/dev/shm
+    environment:
+      - DISPLAY=${DISPLAY} # Pass the DISPLAY variable from the host
+      - XAUTHORITY=${XAUTHORITY}
+      - SSH_AUTH_SOCK=${SSH_AUTH_SOCK}
+      - USERNAME=${USER}    # Passes the host user name
+      - USER_ID=${USER_ID}      # Passes the host user's UID
+      - GROUP_ID=${GROUP_ID}     # Passes the host user's GID
+      - SHELL=/bin/bash
+    user: "${USERNAME}"
+    ipc: host
+    network_mode: "host" # Allow access to host network for DISPLAY
+    privileged: true
+    stdin_open: true # Keeps STDIN open, useful for interactive mode
+    tty: true        # Allocates a pseudo-TTY
+    command: /opt/qt-creator/bin/qtcreator