feat: add image to plot cartesian trajectory data

ct_data_plotter/Dockerfile

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+ARG BASE_IMAGE=docker.io/library/ros
+ARG BASE_TAG=jazzy-ros-core
+ARG ROS_DISTRO=jazzy
+ARG VERSION=v0.0.0
+
+FROM ${BASE_IMAGE}:${BASE_TAG} AS environment-variables
+ENV DEBIAN_FRONTEND=noninteractive
+ENV PIP_NO_CACHE_DIR=1
+ENV USER=ros2
+ENV HOME=/home/${USER}
+
+FROM environment-variables AS base-dependencies
+
+# disable suggested and recommended install
+RUN apt-config dump | grep -we Recommends -e Suggests | sed s/1/0/ \
+    > /etc/apt/apt.conf.d/999norecommend
+
+RUN apt-get update && apt-get install --no-install-recommends -y \
+    sudo \
+    python3-pip \
+    python3-tk \
+    && rm -rf /var/lib/apt/lists/*
+RUN apt-get clean
+
+RUN usermod -l ${USER} ubuntu
+RUN groupmod -n ${USER} ubuntu
+RUN usermod -d ${HOME} -m ros2
+RUN chfn -f "ROS2 User" ros2
+
+RUN usermod -a -G dialout ${USER}
+RUN echo "${USER} ALL=(ALL) NOPASSWD: ALL" > /etc/sudoers.d/99_aptget
+RUN chmod 0440 /etc/sudoers.d/99_aptget && chown root:root /etc/sudoers.d/99_aptget
+
+RUN pip3 install --break-system-packages \
+   "numpy==1.26.4" \
+    matplotlib \
+    mcap \
+    mcap-ros2-support
+
+USER ${USER}
+WORKDIR ${HOME}
+
+COPY --chown=${USER}:${USER} ./config/plot.py /usr/local/bin/plot.py
+RUN chmod +x /usr/local/bin/plot.py
+
+FROM environment-variables AS final
+COPY --from=base-dependencies / /
+
+USER ${USER}
+WORKDIR ${HOME}
+
+RUN echo '#!/bin/bash\n\
+set -e\n\
+source /opt/ros/${ROS_DISTRO}/setup.bash\n\
+exec "$@"' > ${HOME}/ros_entrypoint.sh && chmod +x ${HOME}/ros_entrypoint.sh
+
+ENTRYPOINT ["/home/ros2/ros_entrypoint.sh"]
+CMD ["python3", "/usr/local/bin/plot.py", "/bag", "--save", "/export/plot.png"]
+
+# Metadata
+ARG BASE_IMAGE
+ARG BASE_TAG
+ARG VERSION
+LABEL org.opencontainers.image.title="AICA CT data plotter"
+LABEL org.opencontainers.image.description="Plots cartesian trajectory data from ROS 2 bags"
+LABEL org.opencontainers.image.version="${VERSION}"
+LABEL org.opencontainers.image.base.name="${BASE_IMAGE}:${BASE_TAG}"
+LABEL devcontainer.metadata='[{"containerUser": "ros2"}]'

ct_data_plotter/VERSION

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+0.0.1

ct_data_plotter/build-run.sh

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+#!/bin/bash
+
+IMAGE_NAME=ghcr.io/aica-technology/ct_data_plotter
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" &>/dev/null && pwd)"
+VERSION=$(cat "${SCRIPT_DIR}/VERSION")
+
+OUTPUT_DIR="${SCRIPT_DIR}/export"
+OUTPUT_NAME="plot.png"
+BAG_PATH=""
+
+BUILD_FLAGS=()
+while [ "$#" -gt 0 ]; do
+  case "$1" in
+  # build args
+  -r | --rebuild)
+    BUILD_FLAGS+=(--no-cache)
+    shift 1
+    ;;
+
+  # run args
+  --bag-path)
+    BAG_PATH=$2
+    shift 2
+    ;;
+  --output-dir)
+    OUTPUT_DIR=$2
+    shift 2
+    ;;
+  --output-name)
+    OUTPUT_NAME=$2
+    shift 2
+    ;;
+
+  *)
+    echo "Unknown option: $1" >&2
+    exit 1
+    ;;
+  esac
+done
+
+if [ -z "$BAG_PATH" ]; then
+    echo "Error: You must provide a bag path."
+    echo "Usage: $0 --bag-path /path/to/rosbag/dir [options]"
+    exit 1
+fi
+
+docker buildx build --load -t "${IMAGE_NAME}":v"${VERSION}" "${BUILD_FLAGS[@]}" "${SCRIPT_DIR}"
+
+if [ ! -d "$OUTPUT_DIR" ]; then
+  mkdir -p "$OUTPUT_DIR"
+fi
+
+xhost +
+docker run -it --rm \
+    --device /dev/dri:/dev/dri \
+    -u ros2 \
+    -e DISPLAY="${DISPLAY}" \
+    -e XAUTHORITY="${XAUTHORITY}" \
+    -e ROSBAG_PATH="/bag" \
+    -v "$OUTPUT_DIR":/export \
+    -v "$BAG_PATH":/bag:ro \
+    -v /dev:/dev:rw \
+    -v /tmp/.X11-unix:/tmp/.X11-unix:rw \
+    --privileged \
+    --net host \
+    --name ct_data_plotter \
+    "${IMAGE_NAME}":v"${VERSION}" \
+    python3 /usr/local/bin/plot.py /bag --save /export/"$OUTPUT_NAME"