Docker Integration, tests, and updates

.github/workflows/docker-build.yaml

@@ -1,37 +1,48 @@
-name: Run setup and colcon build for Docker
-on: push
+name: Run setup for Docker
+
+on: 
+  push:
+    branches: [main]
+  pull_request:
+    branches: [main]
+    types: [opened, synchronize, reopened]
+
 jobs:
-  docker_setup_and_build_check:
+  build-test-push:
+    name: Build, Test and Push Docker Image
     runs-on: ubuntu-22.04
+
     steps:
-      - uses: actions/checkout@v4
-        with: # added this, might fix a bug that's taken over 3 hours to find
+      - name: Checkout source code
+        uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
           submodules: recursive
-      - name: build
-        run: |
-          docker compose build --no-cache
-      - name: start and exec into container
-        run: | # ensure a clean build tree inside container, then build
-          docker compose run --rm -T rover bash -lc 'rm -rf build install log && colcon build --symlink-install --packages-up-to arm_control'
-      - name: Cleanup
-        if: always()
-        run: |
-          docker compose down --remove-orphans || true
+
+      - name: Build image
+        uses: docker/build-push-action@v5
+        with:
+          context: .
+          load: true
+          tags: myapp:test
+
       - name: Notify Discord (success)
         if: ${{ success() }}
         uses: appleboy/[email protected]
         with:
           webhook_id: ${{ secrets.DISCORD_BOT_WEBHOOK_ID }}
           webhook_token: ${{ secrets.DISCORD_BOT_WEBHOOK_TOKEN }}
           message: |
-            Yipee!!! I'lll let you merge now ${{ github.actor }}. _good j*b_! || ${{ github.repository }} on `${{ github.ref_name }}`
+            Yipee!!! I'lll let you merge now ${{ github.actor }}. _good j*b_! ||
+            ${{ github.repository }} on `${{ github.ref_name }}`
             ${{ github.server_url }}/${{ github.repository }}/actions/runs/${{ github.run_id }}
+
       - name: Notify Discord (failure)
         if: ${{ failure() }}
         uses: appleboy/[email protected]
         with:
           webhook_id: ${{ secrets.DISCORD_BOT_WEBHOOK_ID }}
           webhook_token: ${{ secrets.DISCORD_BOT_WEBHOOK_TOKEN }}
           message: |
-            poo you ${{ github.actor }}! Run it through chat rq to fix your bugs  ||
+            poo you ${{ github.actor }}! Run it through chat rq to fix your bugs ||
             ${{ github.server_url }}/${{ github.repository }}/actions/runs/${{ github.run_id }}

DockerInstallation.md

@@ -0,0 +1,21 @@
+# Docker setup for RoverFlake2
+
+Minimal installation setup for Docker. Ask ChatGPT first if you are having trouble (do NOT run random commands unless you know exactly what they do). If you still can't figure it out, ask Aaron. Be sure to review the docs if you require any extra commands outside of what is listed.
+
+### 1. Prerequisites
+- Install Docker and Docker Compose on your machine
+> docker --version
+> docker compose version
+
+### 2.1 Build the image (AMD64 Architecture):
+> docker build -t rover2025:rover
+### 2.2 Build the image (ARM64 Architecture):
+> docker builx build --platform linux/amd64,linux/arm64 -t roverflake2:dev --push .
+
+### 3. Start a detached container
+> docker compose --compatibility up rover -d
+(the compatibility flag might not work on Windows and if so, just remove it)
+
+### 4. Go into an existing container
+> docker compose exec rover bash 
+(don't forget to change the service <rover> if you are using a different compose container)

docker-compose.yml

@@ -30,3 +30,23 @@ services:
     environment:
       - ROVERFLAKE_ROOT=/RoverFlake2
     network_mode: host
+  rover_x11: # Do not use if you don't have a nvidia GPU with supported cuda cores
+    build:
+      context: .
+      dockerfile: Dockerfile
+    image: roverflake2:dev
+    container_name: rover_dev
+    working_dir: /RoverFlake2
+    tty: true
+    stdin_open: true
+    volumes: # Purpose: docker env watches for changes in repo and updates
+      # preferred method is to specify a directory
+      # e.g. '- ./node_practice:/RoverFlake2/node_practice'
+      # Bind-mount the whole repo into the container
+      - ./:/RoverFlake2
+      - /tmp/.X11-unix:/tmp/.X11-unix # GUI compatibility
+    environment:
+      - DISPLAY=${DISPLAY}
+      - ROVERFLAKE_ROOT=/RoverFlake2
+      - MUJOCO_GL=glfw # or egl (headless GUI)
+    network_mode: host