fix: aligning the docker files from example ws

.pre-commit-config.yaml

@@ -11,6 +11,7 @@
 #     pre-commit autoupdate
 #
 # See https://github.com/pre-commit/pre-commit
+exclude: ^src/external_dependencies/
 repos:
   # Standard hooks
   - repo: https://github.com/pre-commit/pre-commit-hooks
@@ -57,7 +58,7 @@ repos:
           [
             "--no-warnings",
             "--config-data",
-            "{extends: default, rules: {line-length: disable, braces: {max-spaces-inside: 1}, indentation: {spaces: consistent, indent-sequences: whatever}}}",
+            "{extends: default, rules: {line-length: disable, braces: {max-spaces-inside: 1}, indentation: disable, empty-lines: {max-end: 0, max-start: 1}}}",
           ]
         types: [text]
         files: \.(yml|yaml)$
@@ -69,9 +70,13 @@ repos:
 
   # NOTE: Broken on arm64. Will need to bump once https://github.com/hadolint/hadolint/issues/840 is fixed.
   - repo: https://github.com/hadolint/hadolint
-    rev: v2.10.0
+    rev: v2.11.0
     hooks:
-      - id: hadolint-docker
+      - id: hadolint
+        name: "Lint Dockerfiles"
+        language: docker_image
+        types: ["dockerfile"]
+        entry: hadolint/hadolint:2.11.0 hadolint
 
   - repo: https://github.com/pre-commit/mirrors-prettier
     rev: "v3.1.0"

Dockerfile

@@ -47,17 +47,9 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
       /home/${USERNAME}/.ros && \
     chown -R $USER_UID:$USER_GID /home/${USERNAME} /opt/overlay_ws/
 
-# IMPORTANT: Optionally install Nvidia drivers for improved simulator performance with Nvidia GPUs.
-# To do this you must
-# 1. Uncomment the ENV and RUN entries below
-# 2. Replace the 'nvidia-driver-555' apt package with the Nvidia driver version on your host, e.g. nvidia-driver-535, nvidia-driver-555. Use nvidia-smi on your host to determine the driver version.
-# After rebuilding via `moveit_pro build` verify the drivers are active in your container by running `nvidia_smi` inside of `moveit_pro shell`.
-# ENV DEBIAN_FRONTEND=noninteractive
-# RUN apt update && apt install -y software-properties-common
-# RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
-#     --mount=type=cache,target=/var/lib/apt,sharing=locked \ 
-#    add-apt-repository ppa:graphics-drivers/ppa && \
-#    apt update && apt upgrade -y && apt install -y nvidia-driver-555
+# Add user to dialout group to enable communication with serial USB devices (gripper, FTS, ...)
+# Add user to video group to enable communication with cameras
+RUN usermod -aG dialout,video ${USERNAME}
 
 # Install additional dependencies
 # You can also add any necessary apt-get install, pip install, etc. commands at this point.
@@ -121,3 +113,129 @@ WORKDIR $USER_WS
 
 # Set up the user's .bashrc file and shell.
 CMD ["/usr/bin/bash"]
+
+##################################################
+# Starting from the specified MoveIt Pro release with CUDA GPU #
+##################################################
+# The image tag is specified in the argument itself.
+# hadolint ignore=DL3006
+FROM ${MOVEIT_STUDIO_BASE_IMAGE} AS base-gpu
+
+# Create a non-root user
+ARG USERNAME
+ARG USER_UID
+ARG USER_GID
+
+# hadolint ignore=DL3008
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,target=/var/lib/apt,sharing=locked \
+    apt-get update && apt-get install wget -y -q --no-install-recommends && \
+    wget --progress=dot:giga https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2204/x86_64/cuda-keyring_1.1-1_all.deb && \
+    dpkg -i cuda-keyring_1.1-1_all.deb && \
+    apt-get update && \
+    apt-get install -q -y --no-install-recommends \
+      libcudnn9-cuda-12 \
+      libcudnn9-dev-cuda-12 \
+      libcublas-12-6 \
+      cuda-cudart-12-6 \
+      libcurand-12-6 \
+      libcufft-12-6 \
+      libnvinfer10 \
+      libnvinfer-plugin10 \
+      libnvonnxparsers10 \
+      libtree
+
+# Misleading name: onnxruntime_gpu is actually specifically the CUDA package. This is only shipped for x86-64
+RUN if [ "$(uname -m)" = "x86_64" ]; then pip3 install --no-cache-dir onnxruntime_gpu==1.19.0; fi
+
+# Copy source code from the workspace's ROS 2 packages to a workspace inside the container
+ARG USER_WS=/home/${USERNAME}/user_ws
+ENV USER_WS=${USER_WS}
+
+# Also mkdir with user permission directories which will be mounted later to avoid docker creating them as root
+WORKDIR $USER_WS
+# hadolint ignore=DL3008
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,target=/var/lib/apt,sharing=locked \
+    groupadd --gid $USER_GID ${USERNAME} && \
+    useradd --uid $USER_UID --gid $USER_GID --shell /bin/bash --create-home ${USERNAME} && \
+    apt-get update && \
+    apt-get install -q -y --no-install-recommends sudo && \
+    echo ${USERNAME} ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/${USERNAME} && \
+    chmod 0440 /etc/sudoers.d/${USERNAME} && \
+    cp -r /etc/skel/. /home/${USERNAME} && \
+    mkdir -p \
+      /home/${USERNAME}/.ccache \
+      /home/${USERNAME}/.config \
+      /home/${USERNAME}/.ignition \
+      /home/${USERNAME}/.colcon \
+      /home/${USERNAME}/.ros && \
+    chown -R $USER_UID:$USER_GID /home/${USERNAME} /opt/overlay_ws/
+
+# Install additional dependencies
+# You can also add any necessary apt-get install, pip install, etc. commands at this point.
+# NOTE: The /opt/overlay_ws folder contains MoveIt Pro binary packages and the source file.
+# hadolint ignore=SC1091
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,target=/var/lib/apt,sharing=locked \
+    --mount=type=bind,target=${USER_WS}/,source=. \
+    . /opt/overlay_ws/install/setup.sh && \
+    apt-get update && \
+    rosdep install -q -y \
+      --from-paths src \
+      --ignore-src
+
+# Set up colcon defaults for the new user
+USER ${USERNAME}
+RUN colcon mixin add default \
+    https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml && \
+    colcon mixin update && \
+    colcon metadata add default \
+    https://raw.githubusercontent.com/colcon/colcon-metadata-repository/master/index.yaml && \
+    colcon metadata update
+COPY colcon-defaults.yaml /home/${USERNAME}/.colcon/defaults.yaml
+
+# hadolint ignore=DL3002
+USER root
+
+# Set up the user's .bashrc file and shell.
+CMD ["/usr/bin/bash"]
+
+###################################################################
+# Target for the developer build which does not compile any code. #
+###################################################################
+FROM base-gpu  AS user-overlay-gpu-dev
+
+ARG USERNAME
+ARG USER_WS=/home/${USERNAME}/user_ws
+ENV USER_WS=${USER_WS}
+
+# Install any additional packages for development work
+# hadolint ignore=DL3008
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,target=/var/lib/apt,sharing=locked \
+    apt-get update && \
+    apt-get install -y --no-install-recommends \
+        less \
+        gdb \
+        nano
+
+# Set up the user's .bashrc file and shell.
+CMD ["/usr/bin/bash"]
+
+#########################################
+# Target for compiled, deployable image with GPU support #
+#########################################
+FROM base-gpu AS user-overlay-gpu
+
+ARG USERNAME
+ARG USER_WS=/home/${USERNAME}/user_ws
+ENV USER_WS=${USER_WS}
+
+ENV LD_LIBRARY_PATH=/usr/local/lib/python3.10/dist-packages/onnxruntime/capi:/usr/lib/x86_64-linux-gnu:/usr/local/cuda-12.6/targets/x86_64-linux/lib:$LD_LIBRARY_PATH
+
+# Compile the workspace
+WORKDIR $USER_WS
+
+# Set up the user's .bashrc file and shell.
+CMD ["/usr/bin/bash"]