[Feat] Update dockerfile

.github/workflows/setup.sh

@@ -1,7 +1,7 @@
 #!/bin/bash
 
 sudo apt update
-sudo apt install -y libceres-dev
+DEBIAN_FRONTEND=noninteractive sudo apt install -y libceres-dev
 
 #rosdep init
 rosdep update --include-eol-distros
@@ -13,7 +13,7 @@ git submodule update --init --recursive
 pip3 install -r requirements.txt
 
 #rosdep install
-rosdep install --from-paths . -y --ignore-src -r
+DEBIAN_FRONTEND=noninteractive rosdep install --from-paths . -y --ignore-src -r
 
 # - Importing all dependencies
 colcon build --symlink-install

.rosinstall_ros1

@@ -62,8 +62,4 @@ repositories:
   s_graphs_utils/voxblox:
     type: git
     url: https://github.com/ethz-asl/voxblox.git
-    version: master
-  s_graphs_utils/ros1_graph_manager_interface:
-    type: git
-    url: git@github.com:snt-arg/ros1_graph_manager_interface.git
-    version: main
+    version: master

README.md

@@ -192,13 +192,13 @@ git clone git@github.com:snt-arg/lidar_s_graphs.git -b feature/ros2 s_graphs &&
 
 3. Build image
 
-> [!NOTE]
-> In case you have a different ssh key name for your GitHub account, change `id_ed25519` oto yours.
-
 ```sh
-docker build -t sntarg/s_graphs --ssh default=$HOME/.ssh/id_ed25519 .
+docker build -t sntarg/s_graphs .
 ```
 
+> [!NOTE]
+There are two docker files, one for foxy and another for humble. The above commands build the foxy image, you use the same commands to build the humble image if needed.
+
 ## 🚀 Example on Datasets <a id="examples"></a>
 
 > [!WARNING]

docker/foxy_noetic/Dockerfile

@@ -24,23 +24,17 @@ RUN apt install --no-install-recommends -y \
     ros-foxy-velodyne \
     ros-foxy-teleop-twist-keyboard
 
-# Authorize SSH Host (GitHub)
-RUN mkdir -p -m 0700 /root/.ssh && \
-    ssh-keyscan -H github.com >> /root/.ssh/known_hosts
+#  Creating working spaces directory and clone s_graphs inside it
+RUN mkdir -p /root/workspaces
+WORKDIR /root/workspaces
+RUN git clone https://github.com/snt-arg/lidar_s_graphs.git -b feature/ros2 s_graphs
 
-#  Creating working spaces directory and clone s_graphs_ros2_ws inside it
-RUN mkdir -p /root/workspaces/s_graphs_ros2_ws/src
-WORKDIR /root/workspaces/s_graphs_ros2_ws/src
-RUN --mount=type=ssh \
-    git clone git@github.com:snt-arg/lidar_s_graphs.git -b feature/ros2 s_graphs
-
-# Fetching all packages specified in the .rosinstall file and running build everything with colcon build.
-WORKDIR /root/workspaces/s_graphs_ros2_ws/src/s_graphs
-RUN --mount=type=ssh \
-    vcs import --recursive ../ < .rosinstall_ros2
-WORKDIR /root/workspaces/s_graphs_ros2_ws/
+# Fetching all packages specified in the gitsubmodules and running build everything with colcon build.
+WORKDIR /root/workspaces/s_graphs
+RUN git submodule update --init --recursive
+WORKDIR /root/workspaces/s_graphs
 RUN sudo apt install python3-rosdep
-RUN rosdep install --from-paths src -y --ignore-src -r
+RUN rosdep install --from-paths . -y --ignore-src -r
 SHELL ["/bin/bash", "-c"]
 RUN source /opt/ros/foxy/setup.bash && \
     colcon build --symlink-install
@@ -62,11 +56,9 @@ RUN rosdep update --include-eol-distros
 # Setup ROS1 workspace for ROS1 related dependencies of s_graphs
 RUN mkdir -p /root/workspaces/s_graphs_ros1_ws/src
 WORKDIR /root/workspaces/s_graphs_ros1_ws/src
-RUN --mount=type=ssh \
-    git clone git@github.com:snt-arg/lidar_s_graphs.git -b feature/ros2 s_graphs
+RUN git clone https://github.com/snt-arg/lidar_s_graphs.git -b feature/ros2 s_graphs
 WORKDIR /root/workspaces/s_graphs_ros1_ws/src/s_graphs
-RUN --mount=type=ssh \
-    vcs import --recursive ../ < .rosinstall_ros1
+RUN vcs import --recursive ../ < .rosinstall_ros1
 WORKDIR /root/workspaces/s_graphs_ros1_ws
 RUN rosdep install --from-paths src --ignore-src -y -r
 RUN apt install --no-install-recommends -y \
@@ -77,7 +69,6 @@ RUN source /opt/ros/noetic/setup.bash && \
     catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release && \ 
     catkin build
 
-
 # Install mprocs
 WORKDIR /root
 RUN wget https://github.com/pvolok/mprocs/releases/download/v0.6.4/mprocs-0.6.4-linux64.tar.gz
@@ -86,8 +77,5 @@ RUN tar -xf mprocs* && \
     mv mprocs /usr/local/bin
 
 # alias for mprocs
-RUN echo "alias mprocs_real='mprocs -c /root/workspaces/s_graphs_ros2_ws/src/s_graphs/.real_mprocs.yaml'" >> /root/.bashrc
-RUN echo "alias mprocs_virtual='mprocs -c /root/workspaces/s_graphs_ros2_ws/src/s_graphs/.virtual_mprocs.yaml'" >> /root/.bashrc
-
-# Removing SSH Host authorization (GitHub)
-RUN rm -rf /root/.ssh/
+RUN echo "alias mprocs_real='mprocs -c /root/workspaces/s_graphs/.real_mprocs.yaml'" >> /root/.bashrc
+RUN echo "alias mprocs_virtual='mprocs -c /root/workspaces/s_graphs/.virtual_mprocs.yaml'" >> /root/.bashrc

docker/humble/Dockerfile

@@ -0,0 +1,38 @@
+FROM ros:humble
+
+# Install necessary and useful packages
+RUN apt update && \
+    apt install --no-install-recommends -y \
+    ssh \
+    vim \
+    python3-pip \
+    python3-vcstool \
+    python3-catkin-tools \
+    wget \
+    git
+
+#  Creating working spaces directory and clone s_graphs inside it
+RUN mkdir -p /root/workspaces
+WORKDIR /root/workspaces
+RUN git clone https://github.com/snt-arg/lidar_s_graphs.git -b feature/ros2 s_graphs
+
+# Fetching all packages specified in the .rosinstall file and running build everything with colcon build.
+WORKDIR /root/workspaces/s_graphs
+RUN git submodule update --init --recursive
+WORKDIR /root/workspaces/s_graphs
+RUN sudo apt install python3-rosdep
+RUN rosdep install --from-paths . -y --ignore-src -r
+SHELL ["/bin/bash", "-c"]
+RUN source /opt/ros/humble/setup.bash && \
+    colcon build --symlink-install
+
+# Install mprocs
+WORKDIR /root
+RUN wget https://github.com/pvolok/mprocs/releases/download/v0.6.4/mprocs-0.6.4-linux64.tar.gz
+RUN tar -xf mprocs* && \
+    rm mprocs*.tar.gz && \
+    mv mprocs /usr/local/bin
+
+# alias for mprocs
+RUN echo "alias mprocs_real='mprocs -c /root/workspaces/s_graphs/.real_mprocs.yaml'" >> /root/.bashrc
+RUN echo "alias mprocs_virtual='mprocs -c /root/workspaces/s_graphs/.virtual_mprocs.yaml'" >> /root/.bashrc