adding dockefile image with mycobot280 and auto push into registry ac…

…tion

.devcontainer/devcontainer.json

@@ -1,9 +1,13 @@
 // For format details, see https://aka.ms/devcontainer.json. For config options, see the
 // README at: https://github.com/devcontainers/templates/tree/main/src/ubuntu
 {
-	"name": "lcas-ros2-teaching-humble",
+	"name": "lcas-ros2-rbt1001-humble",
 	// Or use a Dockerfile or Docker Compose file. More info: https://containers.dev/guide/dockerfile
-	"image": "lcas.lincoln.ac.uk/lcas/devcontainer/ros2-teaching:2324-devel",
+	"image": "lcas.lincoln.ac.uk/lcas/devcontainer/ros2-teaching-rbt1001:latest",
+	// "build": {
+	// 	"dockerfile": "Dockerfile",
+	// 	"context": "."
+	// },
 	// Features to add to the dev container. More info: https://containers.dev/features.
 	"features": {
 		"ghcr.io/devcontainers/features/desktop-lite:1": {}

.devcontainer/run.sh

@@ -9,13 +9,11 @@ add_source_bashrc () {
 set -e
 
 export WORKSPACE="`pwd`"
-sudo chown -R lcas /home/lcas/ws
-sudo chown -R lcas /workspaces
+sudo chown -R lcas /home/lcas/ws || true
+sudo chown -R lcas /workspaces || true
 
 source /opt/ros/lcas/install/setup.bash
 sudo apt update
-
-
 rosdep --rosdistro=humble update 
 
 
@@ -29,28 +27,8 @@ rosdep --rosdistro=humble update
 # colcon build
 
 
-cd /home/lcas/ws/src
-git clone -b ros2 https://github.com/PickNikRobotics/bio_ik.git
-git clone -b humble https://github.com/ros-planning/moveit2_tutorials.git
-git clone -b humble https://github.com/ros-planning/moveit_task_constructor.git
-git clone -b humble https://github.com/ros-planning/moveit_resources.git
-git clone https://github.com/PickNikRobotics/ros2_robotiq_gripper.git
-git clone -b ros2 https://github.com/tylerjw/serial.git
-# vcs import < moveit2_tutorials/moveit2_tutorials.repos
-
-# instal moveit
-sudo apt install ros-humble-moveit -y
-# sudo apt install ros-humble-moveit-resources -y
-sudo apt install ros-humble-pick-ik -y
-# sudo apt install python3-pykdl
-
 cd /home/lcas/ws
-
-rosdep install -r --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y
-
 colcon build 
 add_source_bashrc "/opt/ros/lcas/install/setup.bash"
 add_source_bashrc "/home/lcas/ws/install/setup.bash"
-echo "function rebuild { cd /home/lcas/ws; colcon build; source install/setup.bash; cd -; }" >> ~/.bashrc
 source /home/lcas/ws/install/setup.bash
-

.docker/Dockerfile

@@ -0,0 +1,20 @@
+FROM lcas.lincoln.ac.uk/lcas/devcontainer/ros2-teaching:2324-devel
+
+# Install additional ROS 2 packages
+RUN DEBIAN_FRONTEND=noninteractive apt update && \
+    apt install -y \
+    python3-argcomplete \
+    python3-colcon-common-extensions \
+    ros-humble-joint-state-publisher-gui \
+    ros-humble-moveit
+
+RUN DEBIAN_FRONTEND=noninteractive pip install pymycobot --upgrade
+
+# Install mycobot_ros2
+RUN . /opt/ros/humble/setup.sh && \
+    cd /opt/ros/lcas/src/ && \
+    git clone --depth 1 https://github.com/elephantrobotics/mycobot_ros2.git && \
+    cd .. && colcon build  && \
+    rm -rf /opt/ros/lcas/src/ /opt/ros/lcas/build/ /opt/ros/lcas/log/
+
+WORKDIR /home/lcas/ws

.github/workflows/docker-image.yml

@@ -0,0 +1,42 @@
+name: Docker Image CI
+
+on:
+  workflow_dispatch: 
+  push:
+    branches: [ "main" ]
+    paths: ['.docker/Dockerfile']
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+
+    steps:
+    - uses: actions/checkout@v3
+    - name: Docker Login LCAS
+      # You may pin to the exact commit or the version.
+      # uses: docker/login-action@f054a8b539a109f9f41c372932f1ae047eff08c9
+      uses: docker/login-action@v3
+      with:
+        # Server address of Docker registry. If not set then will default to Docker Hub
+        registry: lcas.lincoln.ac.uk
+        # Username used to log against the Docker registry
+        username: ${{ secrets.LCAS_REGISTRY_PUSHER }}
+        # Password or personal access token used to log against the Docker registry
+        password: ${{ secrets.LCAS_REGISTRY_TOKEN }}
+    - name: Get PR labels
+      id: pr-labels
+      uses: joerick/[email protected]
+    - name: Debug echo
+      run: echo "github.head_ref is ${{ github.head_ref }}, steps.pr-labels.outputs.labels is ${{ steps.pr-labels.outputs.labels }} ${{ contains(steps.pr-labels.outputs.labels, ' docker-build ') }}, github.event.label.name is ${{ github.event.label.name }} and github.event_name is ${{ github.event_name }}"
+    - name: Build and push humble  
+      if: ${{ github.event_name != 'pull_request' }}
+      uses: docker/build-push-action@v2
+      with:
+        context: .
+        file: ./.docker/Dockerfile
+        platforms: linux/amd64
+        push: true
+        tags: lcas.lincoln.ac.uk/lcas/devcontainer/ros2-teaching-rbt1001:latest
+        build-args: |
+            UID=1001
+            GID=1001