From 9c0e297b844cc6cd35ed617810b638b80d62d60e Mon Sep 17 00:00:00 2001
From: dologan <66838084+ologandavid@users.noreply.github.com>
Date: Fri, 10 Nov 2023 11:37:37 -0500
Subject: [PATCH] Docker Support, IPOPT, Coinbrew Version Update to 3.14 (#408)

* Update Setup with ipopt 3.14

* Add Dockerfile

* Update Dockerfile

---------

Co-authored-by: jrenaf <jimingre@andrew.cmu.edu>
---
 docker/Dockerfile      | 131 +++++++++++++++++++++++++++++++++++++++++
 external/setup_deps.sh |   6 +-
 2 files changed, 134 insertions(+), 3 deletions(-)
 create mode 100644 docker/Dockerfile

diff --git a/docker/Dockerfile b/docker/Dockerfile
new file mode 100644
index 000000000..ad50dc6ae
--- /dev/null
+++ b/docker/Dockerfile
@@ -0,0 +1,131 @@
+#############################################
+# Created from template ros.dockerfile.jinja
+#############################################
+
+###########################################
+# Base image 
+###########################################
+FROM ubuntu:20.04 AS base
+
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Install language
+RUN apt-get update && apt-get install -y \
+  locales \
+  && locale-gen en_US.UTF-8 \
+  && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 \
+  && rm -rf /var/lib/apt/lists/*
+ENV LANG en_US.UTF-8
+
+# Install timezone
+RUN ln -fs /usr/share/zoneinfo/UTC /etc/localtime \
+  && export DEBIAN_FRONTEND=noninteractive \
+  && apt-get update \
+  && apt-get install -y tzdata \
+  && dpkg-reconfigure --frontend noninteractive tzdata \
+  && rm -rf /var/lib/apt/lists/*
+
+###########################################
+# ROS image 
+###########################################
+FROM base AS ros
+
+# Install ROS
+RUN apt-get update && apt-get install -y \
+    curl \
+    dirmngr \
+    gnupg2 \
+    lsb-release \
+    sudo \
+  && apt-get upgrade -y \
+  && sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' \
+  && curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add - \
+  && apt-get update && apt-get install -y \
+    ros-noetic-desktop-full \
+  && apt-get upgrade libignition-math4 -y \
+  && rm -rf /var/lib/apt/lists/*
+
+# Setup environment
+ENV LD_LIBRARY_PATH=/opt/ros/noetic/lib
+ENV ROS_DISTRO=noetic
+ENV ROS_ROOT=/opt/ros/noetic/share/ros
+ENV ROS_PACKAGE_PATH=/opt/ros/noetic/share
+ENV ROS_MASTER_URI=http://localhost:11311
+ENV ROS_PYTHON_VERSION=
+ENV ROS_VERSION=1
+ENV PATH=/opt/ros/noetic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin
+ENV ROSLISP_PACKAGE_DIRECTORIES=
+ENV PYTHONPATH=/opt/ros/noetic/lib/python3.8/dist-packages
+ENV PKG_CONFIG_PATH=/opt/ros/noetic/lib/pkgconfig
+ENV ROS_ETC_DIR=/opt/ros/noetic/etc/ros
+ENV CMAKE_PREFIX_PATH=/opt/ros/noetic
+ENV DEBIAN_FRONTEND=
+
+###########################################
+# Develop image 
+###########################################
+FROM ros AS dev
+
+ENV DEBIAN_FRONTEND=noninteractive
+# Install dev tools
+RUN apt-get update && apt-get install -y \
+    python3-rosdep \
+    python3-rosinstall \
+    python3-rosinstall-generator \
+    python3-wstool \
+    python3-pip \
+    python3-pep8 \
+    python3-autopep8 \
+    pylint \
+    build-essential \
+    bash-completion \
+    git \
+    vim \
+    python3-catkin-tools \
+  && rm -rf /var/lib/apt/lists/* \
+  && rosdep init || echo "rosdep already initialized"
+
+ARG USERNAME=ros
+ARG USER_UID=1000
+ARG USER_GID=$USER_UID
+
+# Create a non-root user
+RUN groupadd --gid $USER_GID $USERNAME \
+  && useradd -s /bin/bash --uid $USER_UID --gid $USER_GID -m $USERNAME \
+  # [Optional] Add sudo support for the non-root user
+  && apt-get update \
+  && apt-get install -y sudo git-core bash-completion \
+  && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME\
+  && chmod 0440 /etc/sudoers.d/$USERNAME \
+  # Cleanup
+  && rm -rf /var/lib/apt/lists/* \
+  && echo "if [ -f /opt/ros/${ROS_DISTRO}/setup.bash ]; then source /opt/ros/${ROS_DISTRO}/setup.bash; fi" >> /home/$USERNAME/.bashrc
+ENV DEBIAN_FRONTEND=
+
+###########################################
+# ADD SSH into Docker Container 
+###########################################
+
+
+#########################################
+# Set up auto-source of workspace for ros user
+ARG WORKSPACE
+RUN echo "if [ -f ${WORKSPACE}/devel/setup.bash ]; then source ${WORKSPACE}/devel/setup.bash; fi" >> /home/ros/.bashrc
+
+
+ENV CATKIN_WS = /home/catkin_ws
+ENV SDK = /home/catkin_ws/src
+RUN mkdir -p $CATKIN_WS/src
+
+RUN /bin/bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash; catkin init;"
+WORKDIR $SDK
+RUN git clone https://github.com/robomechanics/quad-sdk.git
+
+# ENV QUAD_SDK = /root/catkin_ws/src/quad-sdk
+# WORKDIR $QUAD_SDK
+# RUN git checkout devel
+
+# ADD coinhsl /home/catkin_ws/src/quad-sdk/external/ipopt/coinhsl
+
+
+
diff --git a/external/setup_deps.sh b/external/setup_deps.sh
index 7bb41e208..8cc2e89be 100755
--- a/external/setup_deps.sh
+++ b/external/setup_deps.sh
@@ -14,9 +14,9 @@ then
 fi
 mkdir coinbrew
 cd coinbrew
-wget https://raw.githubusercontent.com/coin-or/coinbrew/v1.0/coinbrew
+wget https://raw.githubusercontent.com/coin-or/coinbrew/v2.0/coinbrew
 chmod u+x coinbrew
-./coinbrew fetch Ipopt@3.13 --no-prompt
+./coinbrew fetch Ipopt --no-prompt
 cd ..
 if [ -d "./coinhsl" ] 
 then
@@ -26,7 +26,7 @@ else
     echo "Warning: HSL not found."
 fi
 cd coinbrew
-./coinbrew build Ipopt --latest-release --tests none --prefix=/usr/local
+./coinbrew build Ipopt --latest-release --tests none --prefix=/usr/local --no-prompt
 cd ../..
 
 # Setup and build for rbdl