Delete stuff

.github/workflows/dockerfile_version_check.yaml

@@ -0,0 +1,89 @@
+name: Dockerfile Version Check
+
+on:
+  pull_request:
+    paths:
+      - "docker/Dockerfile.*"
+      - "docker/docker-compose.yaml"
+
+jobs:
+  check-docker-version:
+    runs-on: ubuntu-latest
+
+    steps:
+      # Checkout the code
+      - name: Checkout code
+        uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+          sparse-checkout: docker/
+
+      # Fetch base branch (e.g., 'main') for comparison
+      - name: Fetch base branch for comparison
+        run: |
+          git fetch origin +refs/heads/${{ github.base_ref }}:refs/remotes/origin/${{ github.base_ref }}
+
+      # Define a function to check version increment for a given image_name
+      - name: Check Dockerfile changes and version increment for each image_name
+        run: |
+          # List the image_names and their corresponding Dockerfiles
+          cd docker/
+          declare -A image_name_to_dockerfile
+          image_name_to_dockerfile=( 
+            ["isaac-sim_ros-humble"]="Dockerfile.isaac-ros"
+            ["airstack-dev"]="Dockerfile.airstack-dev"
+            # Add more mappings here
+          )
+
+          # Compare the current branch with the base branch
+          changes=$(git diff --name-only origin/${{ github.base_ref }}...HEAD)
+
+          # Loop through each image_name and its Dockerfile
+          for image_name in "${!image_name_to_dockerfile[@]}"; do
+            dockerfile="${image_name_to_dockerfile[$image_name]}"
+
+            # If the Dockerfile for this image_name has been changed
+            if echo "$changes" | grep -q "$dockerfile"; then
+              echo "Dockerfile for $image_name has changed."
+
+              # Check if the docker-compose.yaml contains an image version for this image_name (vX.Y.Z)
+              if grep -qE "image: .*/$image_name:.*v[0-9]+\.[0-9]+\.[0-9]+" docker-compose.yaml; then
+                # Extract the full version (vX.Y.Z)
+                version_on_main=$(git show origin/${{ github.base_ref }}:docker/docker-compose.yaml | grep -oP "image: .*/$image_name:v\K[0-9]+\.[0-9]+\.[0-9]+")
+                echo "version_on_main=$version_on_main"
+
+                # Split current version into major, minor, patch
+                IFS='.' read -r current_major current_minor current_patch <<< "$version_on_main"
+
+                echo $(ls -l)
+                # Check if the image version for this image_name has been incremented in this PR
+                # version_this_branch=$(git diff origin/${{ github.base_ref }}...HEAD -- docker-compose.yaml | grep -oP "image: .*/$image_name:v\K[0-9]+\.[0-9]+\.[0-9]+") || echo "No version increment found."
+                version_this_branch=$(grep -oP "image: .*/$image_name:v\K[0-9]+\.[0-9]+\.[0-9]+" docker-compose.yaml)
+
+                if [ -z "$version_this_branch" ]; then
+                  echo "::error::Dockerfile for $image_name was modified but image version in docker-compose.yaml was not updated."
+                  exit 1
+                fi
+
+                echo "version_this_branch=$version_this_branch"
+
+                # Split new version into major, minor, patch
+                IFS='.' read -r new_major new_minor new_patch <<< "$version_this_branch"
+
+                # Check if the new version is higher than the current one
+                if [ "$new_major" -gt "$current_major" ] || \
+                  ([ "$new_major" -eq "$current_major" ] && [ "$new_minor" -gt "$current_minor" ]) || \
+                  ([ "$new_major" -eq "$current_major" ] && [ "$new_minor" -eq "$current_minor" ] && [ "$new_patch" -gt "$current_patch" ]); then
+                  echo "Image version for $image_name has been incremented in docker-compose.yaml."
+                else
+                  echo "::error::Dockerfile for $image_name was modified but the image version in docker-compose.yaml was not correctly incremented."
+                  exit 1
+                fi
+              else
+                echo "::error::No valid image version (vX.Y.Z) found in docker-compose.yaml for $image_name."
+                exit 1
+              fi
+            else
+              echo "No changes to Dockerfile for $image_name."
+            fi
+          done

docker/airstack-dev.dockerfile → docker/Dockerfile.airstack-dev

@@ -11,8 +11,6 @@ RUN apt install -y \
     less htop jq \
     python3-pip
 
-# Install ROS2 packages
-
 # Package dependencies
 # perform ROS dependency installation for our workspace.
 COPY ros_ws/src /tmp/ros_ws/src
@@ -27,31 +25,6 @@ RUN apt update -y && apt install -y \
     ros-humble-tf2* \
     ros-humble-stereo-image-proc \
     ros-humble-image-view \
-    ros-humble-topic-tools \
-    ros-humble-grid-map
-
-RUN /opt/ros/humble/lib/mavros/install_geographiclib_datasets.sh
-
-
-# Install Python dependencies
-RUN pip3 install \
-    empy \
-    future \
-    lxml \
-    matplotlib \
-    numpy \
-    pkgconfig \
-    psutil \
-    pygments \
-    wheel \
-    pymavlink \
-    pyyaml \
-    requests \
-    setuptools \
-    six \
-    toml \
-    scipy
-
 
 # Override install newer openvdb 8.2.0 for compatibility with Ubuntu 22.04  https://bugs.launchpad.net/bugs/1970108
 RUN apt remove -y libopenvdb*; \

docker/isaac-sim/Dockerfile → docker/Dockerfile.isaac-ros

@@ -10,23 +10,6 @@ RUN echo 'Etc/UTC' > /etc/timezone && \
     apt-get install -q -y --no-install-recommends tzdata && \
     rm -rf /var/lib/apt/lists/*
 
-# install packages
-RUN apt-get update && apt-get install -q -y --no-install-recommends \
-    dirmngr \
-    gnupg2 \
-    unzip \
-    && rm -rf /var/lib/apt/lists/*
-
-# setup keys
-RUN set -eux; \
-       key='C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654'; \
-       export GNUPGHOME="$(mktemp -d)"; \
-       gpg --batch --keyserver keyserver.ubuntu.com --recv-keys "$key"; \
-       mkdir -p /usr/share/keyrings; \
-       gpg --batch --export "$key" > /usr/share/keyrings/ros2-latest-archive-keyring.gpg; \
-       gpgconf --kill all; \
-       rm -rf "$GNUPGHOME"
-
 # setup sources.list
 RUN echo "deb [ signed-by=/usr/share/keyrings/ros2-latest-archive-keyring.gpg ] http://packages.ros.org/ros2/ubuntu jammy main" > /etc/apt/sources.list.d/ros2-latest.list
 

docker/docker-compose.yaml

@@ -4,10 +4,10 @@ services:
   isaac-sim:
     build:
       context: ../
-      dockerfile: docker/isaac-sim/Dockerfile
+      dockerfile: docker/Dockerfile.isaac-ros
       tags:
-        - airlab-storage.andrew.cmu.edu:5001/shared/isaac-sim-4.1.0_ros-humble:latest
-    image: airlab-storage.andrew.cmu.edu:5001/shared/isaac-sim-4.1.0_ros-humble:latest
+        - airlab-storage.andrew.cmu.edu:5001/shared/isaac-sim_ros-humble:v1.1.0
+    image: airlab-storage.andrew.cmu.edu:5001/shared/isaac-sim_ros-humble:v1.1.0
     container_name: isaac-sim
     entrypoint: bash
     # Interactive shell
@@ -93,11 +93,11 @@ services:
   robot:
     build:
       context: ../
-      dockerfile: docker/airstack-dev.dockerfile
+      dockerfile: docker/Dockerfile.airstack-dev
       tags:
         - airlab-storage.andrew.cmu.edu:5001/shared/airstack-dev:latest
-        - airlab-storage.andrew.cmu.edu:5001/shared/airstack-dev:0.3.0
-    image: airlab-storage.andrew.cmu.edu:5001/shared/airstack-dev:latest
+        - airlab-storage.andrew.cmu.edu:5001/shared/airstack-dev:v0.5.1
+    image: airlab-storage.andrew.cmu.edu:5001/shared/airstack-dev:v0.5.1
     # container_name: robot-1
     entrypoint: bash -c "service ssh restart && bash"
     # Interactive shell