Add Groot2 to Docker image

docker/Dockerfile.base

@@ -43,9 +43,8 @@ RUN apt-get update && apt-get install --no-install-recommends -y -o Dpkg::Option
     vim \
     rsync \
     dialog \
-    fish
-
-
+    fish \
+    fuse
 
 # VS Code
 RUN curl -L -o /tmp/vscode.deb \
@@ -60,8 +59,6 @@ RUN su memristor -c 'code --install-extension eamodio.gitlens' && \
     su memristor -c 'code --install-extension redhat.vscode-xml' && \
     su memristor -c 'code --install-extension ms-iot.vscode-ros'
 
-
-
 # VS Code server
 RUN su memristor -c 'curl -fsSL https://code-server.dev/install.sh | sh' && \
     su memristor -c 'code-server --install-extension eamodio.gitlens' && \
@@ -78,6 +75,12 @@ RUN curl -L -o /tmp/webots.deb \
     rm -f /tmp/webots.deb && \
     mkdir -p /memristor/.config/Cyberbotics
 
+# Groot
+RUN curl -L -o /opt/Groot2.AppImge \
+    'https://s3.us-west-1.amazonaws.com/download.behaviortree.dev/groot2_linux_installer/Groot2-v1.5.2-x86_64.AppImage' && \
+    chmod +x /opt/Groot2.AppImge && \
+    ln -sf /opt/Groot2.AppImge /usr/bin/groot2
+
 RUN python3 -m pip install scipy transforms3d
 
 #HOTFIX: https://github.com/ros-controls/ros2_controllers/issues/482

docker/Makefile

@@ -8,7 +8,7 @@ IMAGE=ghcr.io/memristor/mep3
 
 .PHONY: all
 
-all: destroy test-nvidia run setup-default
+all: destroy run setup-default
 
 colors:
 	$(eval NC=\033[1;0m)

docker/README.md

@@ -2,44 +2,46 @@
 
 ## Local development environment
 
-1) Install `git`, `make`, `curl`, and `docker`
-    ```sh
-    sudo apt install git make curl
-    curl -sSL https://get.docker.com | sh && sudo usermod -aG docker $USER
-    ```
-    and reboot the PC.
-2) Clone this repository
-    ```sh
-    # Make sure to have your SSH keys added to GitHub
-    git clone [email protected]:memristor/mep3.git
-    ```
-
-3) Run provisioning script to pull the image and run the container:
+1. Install `git`, `make`, `curl`, and `docker`
+   ```sh
+   sudo apt install git make curl
+   curl -sSL https://get.docker.com | sh && sudo usermod -aG docker $USER
+   ```
+   and reboot the PC.
+2. Clone this repository
+
+   ```sh
+   # Make sure to have your SSH keys added to GitHub
+   git clone [email protected]:memristor/mep3.git
+   ```
+
+3. Run provisioning script to pull the image and run the container:
+
    ```sh
    cd ./mep3/docker
-   make run
+   make all
    ```
+
    > Time to time you can run `make destroy run` to get the newest packages.
 
-4) Wait for the provisioning script to finish
+4. Wait for the provisioning script to finish
 
-5) _Optional:_ run container setup script
-    ```sh
-    make setup-default
+5. _Optional:_ run interactive setup if you prefer to manually configure the container
 
-    # If you prefer to manually configure setup, you can just do make setup and go through the prompts
-    make setup-interactive
-    ```
-6) Acces the environment from any terminal window
-    ```sh
-    docker exec -it mep3-devel bash
-    ```
-    Graphical applications started inside this terminal will use your existing Xorg session to display.
+   ```sh
+   make setup-interactive
+   ```
 
+6. Acces the environment from any terminal window
+   ```sh
+   docker exec -it mep3-devel bash
+   ```
+   Graphical applications started inside this terminal will use your existing Xorg session to display.
 
 ## Code Server
+
 If you prefer to use browser based VS Code, you can start it in the container and then access it locally through your browser at `localhost:31415`
-    
+
 ```sh
 # This will start the VS code server with your mep3 repo
 make start-code-server
@@ -50,20 +52,20 @@ make stop-code-server
 
 ## Remote development environment (VNC)
 
-
-
-1) Follow steps in [Local development environment](#local-development-environment), but add `vnc` after
+1. Follow steps in [Local development environment](#local-development-environment), but add `vnc` after
    `make` in steps 4 and 6 (eg. `make vnc setup`)
-2) Enable VNC preferences in step 6 and wait for the container to restart
-3) Web-based VNC client will be accessible at `http://localhost:6810/` if you keep default noVNC webserver port
-4) In step 6 replace `mep3-devel` with `mep3-vnc`
+2. Enable VNC preferences in step 6 and wait for the container to restart
+3. Web-based VNC client will be accessible at `http://localhost:6810/` if you keep default noVNC webserver port
+4. In step 6 replace `mep3-devel` with `mep3-vnc`
 
 **Note:** If you are setting up through SSH, make sure to have a running Xorg server on host machine,
 and set `DISPLAY` environment variable on step 4 to its value (eg `:0`).
+
 ```sh
 export DISPLAY=:0
 ```
 
 ## NVIDIA GPU
+
 If you happen to have NVIDIA GPUs that you wish to use within these development environments, make sure
 to have NVIDIA Container Toolkit installed on your system. More info, specific to your distribution [here](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html).

docker/config/setup.sh

@@ -172,20 +172,28 @@ while [ "$#" -gt 0 ]; do
 	shift
 done
 
-if $_configure_proxy; then
+if $_interactive; then
 	configure_proxy
-fi
-if $_first_time_ros_setup; then
 	first_time_ros_setup
-fi
-if $_enhanced_shell_prompt; then
 	enhanced_shell_prompt
-fi
-if $_shell_shortcuts; then
 	shell_shortcuts
-fi
-if $_vnc; then
 	vnc
+else
+	if $_configure_proxy; then
+		configure_proxy
+	fi
+	if $_first_time_ros_setup; then
+		first_time_ros_setup
+	fi
+	if $_enhanced_shell_prompt; then
+		enhanced_shell_prompt
+	fi
+	if $_shell_shortcuts; then
+		shell_shortcuts
+	fi
+	if $_vnc; then
+		vnc
+	fi
 fi
 
 finalize