Dockerfile.bluerov2-nogpu Error

[3118347667]

In the Dockerfile.bluerov2-nogpu file, python3.7 is installed separately, which causes a conflict with the original python3.8. As a result, "pip install -e ~/acados/interfaces/acados_template" fails (because it depends on python3.7, and the default python version is python3.8).
The solution is as follows: Use python3.7 to create a virtual environment named auv and activate the environment when you need to execute: "yes | python3 generate_c_code.py".（Currently tested on my Ubuntu 20.04）

Dockerfile.bluerov2-nogpu：

FROM pattylo/airo_ros_noetic:nogpu-nopkg

ENV DEBIAN_FRONTEND=noninteractive
ARG HOME=/root

RUN add-apt-repository ppa:deadsnakes/ppa && \
    apt-get update && \
    apt-get install -y python3.7 python3.7-venv python3.7-dev python3.7-tk

RUN python3.7 -m venv /root/auv


RUN /bin/bash -c "source /root/auv/bin/activate && \
    pip install --upgrade pip && \
    pip install numpy matplotlib scipy future-fstrings casadi>=3.5.1 setuptools"


RUN python3 --version && echo "Force rebuild: $(date)"
RUN which python3 && echo "Force rebuild: $(date)"

RUN python3.7 --version && echo "Force rebuild: $(date)"
RUN which python3.7 && echo "Force rebuild: $(date)"

WORKDIR $HOME
RUN git clone https://github.com/acados/acados.git && \
    cd ~/acados && git checkout 568e46c && \
    git submodule update --recursive --init && \
    mkdir build && cd build && \
    cmake -DACADOS_WITH_QPOASES=ON -DACADOS_WITH_OSQP=OFF/ON -DACADOS_INSTALL_DIR=~/acados .. && \
    sudo make install -j4

# RUN pip install importlib-metadata
RUN /bin/bash -c "source /root/auv/bin/activate && \
    pip install -e ~/acados/interfaces/acados_template"

RUN echo 'export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:"/root/acados/lib"' >> ~/.bashrc && \
    echo 'export ACADOS_SOURCE_DIR="/root/acados"' >> ~/.bashrc

RUN sudo apt-get install -y ros-noetic-geodesy
RUN mkdir -p ~/catkin_ws/src && \
    cd ~/catkin_ws/src && \
    git clone --branch noetic https://github.com/arturmiller/uuv_simulator.git

RUN cd ~/catkin_ws/src && \
    sudo apt-get install ros-noetic-sophus ros-noetic-ddynamic-reconfigure -y && \
    # git clone https://github.com/HKPolyU-UAV/bluerov2.git && \
    git clone --branch eskf_obs2 https://github.com/HKPolyU-UAV/bluerov2.git && \
    cd ~/catkin_ws/src/bluerov2 && \
    git submodule update --init --recursive 

# REALSENSE
RUN sudo mkdir -p /etc/apt/keyrings
RUN curl -sSf https://librealsense.intel.com/Debian/librealsense.pgp | sudo tee /etc/apt/keyrings/librealsense.pgp > /dev/null
RUN echo "deb [signed-by=/etc/apt/keyrings/librealsense.pgp] https://librealsense.intel.com/Debian/apt-repo `lsb_release -cs` main" | \
    sudo tee /etc/apt/sources.list.d/librealsense.list
RUN sudo apt-get update && \
    sudo apt-get install librealsense2-dkms -y && \
    sudo apt-get install librealsense2-utils -y && \
    sudo apt-get install librealsense2-dev -y && \
    sudo apt-get install librealsense2-dbg -y 

# RUN mkdir -p ~/camera_ws/src && cd ~/camera_ws/src/ && \
#     git clone https://github.com/IntelRealSense/realsense-ros.git && \
#     cd realsense-ros/ && \
#     git checkout `git tag | sort -V | grep -P "^2.\d+\.\d+" | tail -1`
# RUN sudo apt-get install ros-noetic-ddynamic-reconfigure -y && \
#     /bin/bash -c '. /opt/ros/noetic/setup.bash; cd ~/camera_ws/src;\
#     catkin_init_workspace' && \
#     /bin/bash -c '. /opt/ros/noetic/setup.bash; cd ~/camera_ws;\
#     catkin_make clean' && \
#     /bin/bash -c '. /opt/ros/noetic/setup.bash; cd ~/camera_ws;\
#     catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release' && \
#     /bin/bash -c '. /opt/ros/noetic/setup.bash; cd ~/camera_ws;\
#     catkin_make install'

RUN export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:"/root/acados/lib" && \
    export ACADOS_SOURCE_DIR="/root/acados" && \
    cd ~/catkin_ws/src/bluerov2/bluerov2_dobmpc/scripts && \
    /bin/bash -c "source /root/auv/bin/activate && yes | python3 generate_c_code.py"


RUN export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:"/root/acados/lib" && \
    export ACADOS_SOURCE_DIR="/root/acados" && \
    cd ~/catkin_ws/src/bluerov2/bluerov2_mpc/scripts && \
    /bin/bash -c "source /root/auv/bin/activate && yes | python3 generate_c_code.py"

RUN sudo apt-get update && sudo apt-get install -y libeigen3-dev
RUN sudo apt-get update && sudo apt-get install -y \
    ros-noetic-catkin \
    ros-noetic-common-msgs \
    ros-noetic-geometry-msgs \
    ros-noetic-tf2 \
    ros-noetic-tf2-ros
    
RUN sudo ln -s /usr/include/eigen3/Eigen /usr/include/Eigen && \
    /bin/bash -c '. /opt/ros/noetic/setup.bash; cd ~/catkin_ws/; \
    rm -rf build devel; \
    catkin_make -j4 -l4'

RUN echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc

WORKDIR $HOME

[pattylo]

Hi! I have found some bugs within our Dockerfile, feel free to help us test it again on your system!

Concerning the issues you mentioned, after confirming with my collegues, it turns out that python 3.7 has nothing to do with the installation, and I am guessing since some python packages were updated, it led to some error when building with this dockerfile.

Sol: Eventually, I updated the python lib path in the environment and solved the problem on generate_c_code.py. I also remove commandlines on python 3.7, and clean up the dependencies issue. To be honest, your solution also works, but personally, I am not the biggest fan to use virtual environment where the packages have sth to do with ROS (it's just my PTSD) (plus we do not really need 3.7 -- our bad...).

I bear partial responsiblity of this error, since I was the one who uploaded it and I did not do any QC. Again, apologies for the misleading info and causing you inconvenience, and sorry for the late reply.

Currently, we are doing massive maintenance on our bluerov2 repo (it was a mess, I know), and feel free to do any PRs if you have better ideas!

Thanks again,
@pattylo