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iserverobotics-bonaalexlin2
iserverobotics-bona
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alexlin2
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feat: add Docker build and deployment setup
- Multi-stage Dockerfile (build + runtime) for all ROS 2 packages - docker-compose.yml for deployment (Docker 24.x compatible) - build.sh to build, tag, and push to iserverobotics/nav_autonomy - .env for hardware configuration (lidar, motor, network) - .dockerignore to exclude build artifacts from context
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‎.dockerignore‎

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.git
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build
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install
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log
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docker
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map
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base_station
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chrony_conf
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desktop_buttons
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img
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*.md
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LICENSE

‎docker/.env‎

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# Hardware Configuration Environment Variables
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# Customize for your hardware setup
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# ============================================
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# Docker Runtime
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# ============================================
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# Set to nvidia for GPU support (requires nvidia-container-toolkit)
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#DOCKER_RUNTIME=nvidia
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# Image tag (default: latest)
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IMAGE_TAG=latest
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# ============================================
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# ROS Configuration
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# ============================================
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# ROS domain ID for multi-robot setups
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ROS_DOMAIN_ID=42
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# ============================================
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# Mid-360 Lidar Configuration
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# ============================================
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# Network interface connected to the lidar (e.g., eth0, enp0s3)
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# Find with: ip addr show
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LIDAR_INTERFACE=eth0
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# Processing computer IP address on the lidar subnet
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# Must be on the same subnet as the lidar (e.g., 192.168.1.5)
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LIDAR_COMPUTER_IP=192.168.1.5
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# Gateway IP address for the lidar subnet
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LIDAR_GATEWAY=192.168.1.1
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# Full IP address of your Mid-360 lidar
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# Common pattern: 192.168.1.1XX where XX = last 2 digits of serial
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LIDAR_IP=192.168.1.116
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# ============================================
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# Motor Controller Configuration
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# ============================================
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# Serial device for motor controller
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# Check with: ls /dev/ttyACM* or ls /dev/ttyUSB*
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MOTOR_SERIAL_DEVICE=/dev/ttyACM0
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# ============================================
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# Network Communication
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# ============================================
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# Enable WiFi buffer optimization for wireless data transmission
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ENABLE_WIFI_BUFFER=false
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# ============================================
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# Navigation Options
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# ============================================
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# Enable RViz visualization (set to true for debugging)
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USE_RVIZ=false
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# Map path for localization mode (leave empty for SLAM/mapping mode)
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# Set to file prefix (no .pcd extension), e.g., /ros2_ws/maps/warehouse
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MAP_PATH=
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# ============================================
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# Device Group IDs
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# ============================================
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# Group ID for /dev/input devices (joystick)
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# Find with: getent group input | cut -d: -f3
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INPUT_GID=995
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# Group ID for serial devices
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# Find with: getent group dialout | cut -d: -f3
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DIALOUT_GID=20

‎docker/Dockerfile‎

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# =============================================================================
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# Navigation Autonomy Stack Docker Image
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# =============================================================================
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#
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# Multi-stage build for ROS 2 navigation with SLAM support.
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# Includes arise_slam and FASTLIO2.
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#
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# Build:
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# ./docker/build.sh # Build for ROS 2 Jazzy (default)
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# ./docker/build.sh --humble # Build for ROS 2 Humble
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#
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# =============================================================================
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ARG ROS_DISTRO=jazzy
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ARG TARGETARCH
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# Platform-specific base images
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FROM osrf/ros:${ROS_DISTRO}-desktop-full AS base-amd64
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FROM ros:${ROS_DISTRO}-ros-base AS base-arm64
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# =============================================================================
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# STAGE 1: Build
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# =============================================================================
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FROM base-${TARGETARCH} AS builder
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ARG ROS_DISTRO
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ENV DEBIAN_FRONTEND=noninteractive
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ENV ROS_DISTRO=${ROS_DISTRO}
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ENV WORKSPACE=/ros2_ws
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# Install build dependencies
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RUN apt-get update && apt-get install -y --no-install-recommends \
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git \
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cmake \
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build-essential \
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python3-colcon-common-extensions \
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libpcl-dev \
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libgoogle-glog-dev \
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libgflags-dev \
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libatlas-base-dev \
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libeigen3-dev \
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libsuitesparse-dev \
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ros-${ROS_DISTRO}-pcl-ros \
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ros-${ROS_DISTRO}-cv-bridge \
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&& rm -rf /var/lib/apt/lists/*
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# On arm64, ros-base doesn't include rviz2; install separately for building rviz plugins
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ARG TARGETARCH
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RUN if [ "${TARGETARCH}" = "arm64" ]; then \
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apt-get update && apt-get install -y --no-install-recommends \
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ros-${ROS_DISTRO}-rviz2 \
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&& rm -rf /var/lib/apt/lists/*; \
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fi
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# On arm64, build or-tools from source (pre-built binaries are x86_64 only)
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ENV OR_TOOLS_VERSION=9.8
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RUN if [ "${TARGETARCH}" = "arm64" ]; then \
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echo "Building or-tools v${OR_TOOLS_VERSION} from source for arm64..." && \
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apt-get update && apt-get install -y --no-install-recommends \
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lsb-release \
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wget \
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&& rm -rf /var/lib/apt/lists/* && \
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cd /tmp && \
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wget -q https://github.com/google/or-tools/archive/refs/tags/v${OR_TOOLS_VERSION}.tar.gz && \
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tar xzf v${OR_TOOLS_VERSION}.tar.gz && \
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cd or-tools-${OR_TOOLS_VERSION} && \
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cmake -S . -B build \
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-DCMAKE_BUILD_TYPE=Release \
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-DBUILD_DEPS=ON \
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-DBUILD_SAMPLES=OFF \
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-DBUILD_EXAMPLES=OFF \
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-DBUILD_FLATZINC=OFF \
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-DUSE_SCIP=OFF \
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-DUSE_COINOR=OFF && \
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cmake --build build --config Release -j$(($(nproc) > 4 ? 4 : $(nproc))) && \
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cmake --install build --prefix /opt/or-tools && \
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rm -rf /tmp/or-tools-${OR_TOOLS_VERSION} /tmp/v${OR_TOOLS_VERSION}.tar.gz; \
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fi
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# Create workspace and copy source
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RUN mkdir -p ${WORKSPACE}/src
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COPY src ${WORKSPACE}/src
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# On arm64, replace x86_64 or-tools with arm64 build
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RUN if [ "${TARGETARCH}" = "arm64" ] && [ -d "/opt/or-tools" ]; then \
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echo "Replacing x86_64 or-tools with arm64 build..." && \
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OR_TOOLS_DIR=${WORKSPACE}/src/exploration_planner/tare_planner/or-tools && \
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if [ -d "${OR_TOOLS_DIR}" ]; then \
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rm -rf ${OR_TOOLS_DIR}/lib/*.so* ${OR_TOOLS_DIR}/lib/*.a && \
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cp -r /opt/or-tools/lib/* ${OR_TOOLS_DIR}/lib/ && \
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rm -rf ${OR_TOOLS_DIR}/include && \
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cp -r /opt/or-tools/include ${OR_TOOLS_DIR}/ && \
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ldconfig; \
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fi; \
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fi
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# Compatibility fix: In Humble, cv_bridge uses .h extension; Jazzy uses .hpp
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RUN if [ "${ROS_DISTRO}" = "humble" ]; then \
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CV_BRIDGE_DIR=$(find /opt/ros/humble/include -name "cv_bridge.h" -printf "%h\n" 2>/dev/null | head -1) && \
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if [ -n "$CV_BRIDGE_DIR" ]; then \
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ln -sf "$CV_BRIDGE_DIR/cv_bridge.h" "$CV_BRIDGE_DIR/cv_bridge.hpp"; \
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fi; \
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fi
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# Build Livox-SDK2
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RUN cd ${WORKSPACE}/src/utilities/livox_ros_driver2/Livox-SDK2 && \
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mkdir -p build && cd build && \
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cmake .. && make -j$(nproc) && make install && ldconfig && \
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rm -rf ${WORKSPACE}/src/utilities/livox_ros_driver2/Livox-SDK2/build
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# Build Sophus
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RUN cd ${WORKSPACE}/src/slam/dependency/Sophus && \
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mkdir -p build && cd build && \
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cmake .. -DBUILD_TESTS=OFF && make -j$(nproc) && make install && \
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rm -rf ${WORKSPACE}/src/slam/dependency/Sophus/build
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# Build Ceres Solver
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RUN cd ${WORKSPACE}/src/slam/dependency/ceres-solver && \
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mkdir -p build && cd build && \
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cmake .. && make -j$(nproc) && make install && \
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rm -rf ${WORKSPACE}/src/slam/dependency/ceres-solver/build
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# Build GTSAM
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RUN cd ${WORKSPACE}/src/slam/dependency/gtsam && \
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mkdir -p build && cd build && \
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cmake .. -DGTSAM_USE_SYSTEM_EIGEN=ON -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF && \
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make -j$(nproc) && make install && ldconfig && \
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rm -rf ${WORKSPACE}/src/slam/dependency/gtsam/build
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# Build ROS workspace
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RUN /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash && \
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cd ${WORKSPACE} && \
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colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release"
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# =============================================================================
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# STAGE 2: Runtime
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# =============================================================================
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ARG ROS_DISTRO
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ARG TARGETARCH
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FROM base-${TARGETARCH} AS runtime
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ARG ROS_DISTRO
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ENV DEBIAN_FRONTEND=noninteractive
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ENV ROS_DISTRO=${ROS_DISTRO}
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ENV WORKSPACE=/ros2_ws
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ENV RMW_IMPLEMENTATION=rmw_fastrtps_cpp
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# Install runtime dependencies
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RUN apt-get update && apt-get install -y --no-install-recommends \
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ros-${ROS_DISTRO}-pcl-ros \
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ros-${ROS_DISTRO}-cv-bridge \
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ros-${ROS_DISTRO}-rviz2 \
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ros-${ROS_DISTRO}-joy \
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ros-${ROS_DISTRO}-rmw-fastrtps-cpp \
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libpcl-dev \
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libgoogle-glog-dev \
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libgflags-dev \
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libatlas-base-dev \
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libeigen3-dev \
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libsuitesparse-dev \
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libx11-6 \
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libxext6 \
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libxrender1 \
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libgl1 \
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libglib2.0-0 \
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iputils-ping \
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net-tools \
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iproute2 \
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usbutils \
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joystick \
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&& rm -rf /var/lib/apt/lists/*
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# Copy installed libraries from builder (Livox-SDK2, Sophus, Ceres, GTSAM)
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COPY --from=builder /usr/local/lib /usr/local/lib
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COPY --from=builder /usr/local/include /usr/local/include
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RUN ldconfig
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# Copy built ROS workspace
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COPY --from=builder ${WORKSPACE}/install ${WORKSPACE}/install
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# Copy rviz config files from source
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COPY --from=builder ${WORKSPACE}/src/base_autonomy/vehicle_simulator/rviz ${WORKSPACE}/src/base_autonomy/vehicle_simulator/rviz
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COPY --from=builder ${WORKSPACE}/src/route_planner/far_planner/rviz ${WORKSPACE}/src/route_planner/far_planner/rviz
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COPY --from=builder ${WORKSPACE}/src/exploration_planner/tare_planner/rviz ${WORKSPACE}/src/exploration_planner/tare_planner/rviz
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# Copy lidar config
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COPY --from=builder ${WORKSPACE}/src/utilities/livox_ros_driver2/config ${WORKSPACE}/src/utilities/livox_ros_driver2/config
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# Copy SLAM config files (arise_slam + FASTLIO2)
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RUN --mount=from=builder,source=${WORKSPACE}/src,target=/tmp/src \
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mkdir -p ${WORKSPACE}/src/slam/arise_slam_mid360 && \
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cp -r /tmp/src/slam/arise_slam_mid360/config ${WORKSPACE}/src/slam/arise_slam_mid360/ 2>/dev/null || true && \
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mkdir -p ${WORKSPACE}/src/slam/FASTLIO2_ROS2 && \
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for pkg in fastlio2 localizer pgo hba; do \
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if [ -d "/tmp/src/slam/FASTLIO2_ROS2/$pkg/config" ]; then \
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mkdir -p ${WORKSPACE}/src/slam/FASTLIO2_ROS2/$pkg && \
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cp -r /tmp/src/slam/FASTLIO2_ROS2/$pkg/config ${WORKSPACE}/src/slam/FASTLIO2_ROS2/$pkg/; \
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fi; \
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if [ -d "/tmp/src/slam/FASTLIO2_ROS2/$pkg/rviz" ]; then \
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cp -r /tmp/src/slam/FASTLIO2_ROS2/$pkg/rviz ${WORKSPACE}/src/slam/FASTLIO2_ROS2/$pkg/; \
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fi; \
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done
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# Copy system launch scripts
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COPY system_real_robot_with_route_planner.sh ${WORKSPACE}/
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COPY system_real_robot.sh ${WORKSPACE}/
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COPY system_real_robot_with_exploration_planner.sh ${WORKSPACE}/
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COPY system_bagfile.sh ${WORKSPACE}/
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COPY system_bagfile_with_route_planner.sh ${WORKSPACE}/
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COPY system_bagfile_with_exploration_planner.sh ${WORKSPACE}/
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# Create directories for maps and logs
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RUN mkdir -p ${WORKSPACE}/maps ${WORKSPACE}/logs
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# Set up shell environment
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RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> ~/.bashrc && \
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echo "source ${WORKSPACE}/install/setup.bash" >> ~/.bashrc && \
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echo "export RMW_IMPLEMENTATION=rmw_fastrtps_cpp" >> ~/.bashrc
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# Entrypoint script
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RUN cat > /ros_entrypoint.sh <<'ENTRYPOINT_EOF'
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#!/bin/bash
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set -e
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# Source ROS environment
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source /opt/ros/${ROS_DISTRO}/setup.bash
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source ${WORKSPACE}/install/setup.bash
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export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
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# Configure lidar network interface if specified
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if [ -n "${LIDAR_INTERFACE}" ] && [ -n "${LIDAR_COMPUTER_IP}" ]; then
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ip addr add ${LIDAR_COMPUTER_IP}/24 dev ${LIDAR_INTERFACE} 2>/dev/null || true
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ip link set ${LIDAR_INTERFACE} up 2>/dev/null || true
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fi
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# Generate MID360_config.json if lidar IPs are set
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if [ -n "${LIDAR_COMPUTER_IP}" ] && [ -n "${LIDAR_IP}" ]; then
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cat > ${WORKSPACE}/src/utilities/livox_ros_driver2/config/MID360_config.json <<EOF
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{
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"lidar_summary_info": { "lidar_type": 8 },
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"MID360": {
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"lidar_net_info": {
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"cmd_data_port": 56100, "push_msg_port": 56200,
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"point_data_port": 56300, "imu_data_port": 56400, "log_data_port": 56500
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},
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"host_net_info": {
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"cmd_data_ip": "${LIDAR_COMPUTER_IP}", "cmd_data_port": 56101,
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"push_msg_ip": "${LIDAR_COMPUTER_IP}", "push_msg_port": 56201,
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"point_data_ip": "${LIDAR_COMPUTER_IP}", "point_data_port": 56301,
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"imu_data_ip": "${LIDAR_COMPUTER_IP}", "imu_data_port": 56401,
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"log_data_ip": "${LIDAR_COMPUTER_IP}", "log_data_port": 56501
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}
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},
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"lidar_configs": [{
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"ip": "${LIDAR_IP}",
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"pcl_data_type": 1, "pattern_mode": 0,
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"extrinsic_parameter": { "roll": 0.0, "pitch": 0.0, "yaw": 0.0, "x": 0, "y": 0, "z": 0 }
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}]
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}
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EOF
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cp ${WORKSPACE}/src/utilities/livox_ros_driver2/config/MID360_config.json \
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${WORKSPACE}/install/livox_ros_driver2/share/livox_ros_driver2/config/MID360_config.json 2>/dev/null || true
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echo "Generated MID360_config.json (LIDAR_IP=${LIDAR_IP}, COMPUTER_IP=${LIDAR_COMPUTER_IP})"
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fi
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# WiFi buffer optimization
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if [ "${ENABLE_WIFI_BUFFER}" = "true" ]; then
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sysctl -w net.core.rmem_max=67108864 net.core.rmem_default=67108864 2>/dev/null || true
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sysctl -w net.core.wmem_max=67108864 net.core.wmem_default=67108864 2>/dev/null || true
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fi
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exec "$@"
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ENTRYPOINT_EOF
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RUN chmod +x /ros_entrypoint.sh
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WORKDIR ${WORKSPACE}
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ENTRYPOINT ["/ros_entrypoint.sh"]
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CMD ["bash"]

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