JMANY42 · Oct 3, 2025 · Sep 25, 2025 · Sep 26, 2025 · Sep 26, 2025 · Sep 26, 2025
diff --git a/.envrc b/.envrc
@@ -0,0 +1 @@
+use flake
diff --git a/.gitignore b/.gitignore
@@ -1,5 +1,8 @@
 src/log/
 src/build/
 src/install/
+*backup
+.direnv
+result
 .config/nvim/
 .config/setup-development-enviornment.sh
diff --git a/.gitmodules b/.gitmodules
diff --git a/Docker/Dockerfile b/Docker/Dockerfile
@@ -1,148 +1,125 @@
-###############
-# BUILD IMAGE #
-###############
-FROM ros:humble-ros-core AS builder
-SHELL ["/bin/bash", "-c"]
-
-# Use Faster Mirrors
-##  INFO: Found using apt-select --country US -t 10 
-ARG MIRROR='http://dal.mirrors.clouvider.net' 
-RUN sed -r -i "s,http://(.*).ubuntu.com,${MIRROR}," /etc/apt/sources.list
-
-# Setup Environment
-
-## ROS2
-ARG ROS_DISTRO='humble'
-ARG DEBIAN_FRONTEND='noninteractive'
-
-ENV USER='root'
-ENV HOME="/${USER}"
-ENV BOAT_WS='/root/roboboat_ws'
-
-# Install some packages
-RUN apt-get update && apt-get -y --no-install-recommends install \
-    cmake wget curl git lsb-release \
-    build-essential software-properties-common && \
-    apt-get clean && rm -rf /var/lib/apt/lists/*
-
-## Setup Workspace
-RUN mkdir -p "${BOAT_WS}/src"
-WORKDIR "${BOAT_WS}/src"
+ARG ROS_DISTRO="humble"
+
+ARG USER="root"
+ARG HOME="/${USER}"
+ARG BOAT_WS="${HOME}/roboboat_ws"
+
+ARG PKGS_BASE="git wget curl jq"
+ARG PKGS_DEV="software-properties-common apt-utils python3-minimal python-is-python3 python3-pip python3-vcstool python3-colcon-common-extensions net-tools iputils-ping ros-dev-tools  ros-${ROS_DISTRO}-velodyne ros-${ROS_DISTRO}-rmw-cyclonedds-cpp ros-${ROS_DISTRO}-point-cloud-transport ros-${ROS_DISTRO}-robot-localization libturbojpeg"
+ARG PKGS_SIM="ros-${ROS_DISTRO}-ros-gz gz-harmonic"
+
+# ZED SDK args
+ARG ZED_SDK_URL="https://download.stereolabs.com/zedsdk/5.0/cu12/ubuntu22"
+ARG PKGS_ZED_SDK="zstd less cmake gnupg2 build-essential python3 python3-pip python3-dev python3-setuptools python3-wheel libusb-1.0-0-dev libgeographic-dev libdraco-dev zlib1g-dev lsb-release udev build-essential libpq-dev usbutils"
+ARG PKGS_PIP_ZED_SDK="cython numpy opencv-python-headless protobuf"
+
+###########
+# BUILDER #
+###########
+# The goal of this image is to build the following images:
+# - osrf/vrx (2.4.1)
+# - sterolabs/zed-ros2-wrapper
+FROM ros:${ROS_DISTRO}-ros-base AS builder
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Redeclare global args
+ARG PKGS_BASE 
+ARG PKGS_SIM
+ARG PKGS_ZED_SDK
+ARG PKGS_PIP_ZED_SDK
+ARG BOAT_WS
+ARG ZED_SDK_URL
+ARG ROS_DISTRO 
+
+RUN apt-get update -y && apt-get install -y --no-install-recommends \
+  ${PKGS_BASE} && \
+  apt-get clean && rm -rf /var/lib/apt/lists/*
+
+# Install the ZED SDK
+# RUN echo "[INFO] ZED SDK link: $ZED_SDK_URL" && \
+#   if [ "$(curl -L -I "${ZED_SDK_URL}" -o /dev/null -s -w '%{http_code}\n' | head -n 1)" = "200" ]; then \
+#   echo "[OKAY] ZedSDK URL exists"; \
+#   else \
+#   echo "[ERROR] ZedSDK URL does not point to a .run file or the file does not exist."; \
+#   exit 1; \
+#   fi; \
+#   wget -q -O ZED_SDK_Linux_Ubuntu.run ${ZED_SDK_URL} && \
+#   chmod +x ZED_SDK_Linux_Ubuntu.run && \
+#   ./ZED_SDK_Linux_Ubuntu.run -- silent skip_tools skip_cuda && \
+#   ln -sf /lib/x86_64-linux-gnu/libusb-1.0.so.0 /usr/lib/x86_64-linux-gnu/libusb-1.0.so && \
+#   rm ZED_SDK_Linux_Ubuntu.run && \
+#   rm -rf /var/lib/apt/lists/*
+
+# Install Gazebo Harmonic, dependency for osrf/vrx
+RUN curl https://packages.osrfoundation.org/gazebo.gpg --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg && \
+  echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] https://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null && \
+  apt-get update -y && apt-get install -y --no-install-recommends ${PKGS_SIM} \
+  && apt-get clean && rm -rf /var/lib/apt/lists/*
+
+ARG VRX_REPO='osrf/vrx'
+ARG VRX_BRANCH='v3.0.4'
+ARG ZED_REPO='stereolabs/zed-ros2-wrapper'
+ARG ZED_BRANCH='humble-v5.0.0'
+RUN /bin/bash -c "mkdir -p "${BOAT_WS}/src" && cd "${BOAT_WS}/src" && \
+  apt-get update -y && \
+  ls -la /opt/ros/${ROS_DISTRO} && source /opt/ros/${ROS_DISTRO}/setup.bash && \
+  git clone --progress --verbose --recursive --depth 1 --branch ${VRX_BRANCH} https://github.com/${VRX_REPO}.git && \
+  # git clone --progress --verbose --recursive --depth 1 --branch ${ZED_BRANCH} https://github.com/${ZED_REPO}.git && \
+  cd ${BOAT_WS} && \
+  rosdep update && rosdep install --from-paths src --ignore-src -r -y && \
+  colcon build --parallel-workers $(nproc) --merge-install \
+  --event-handlers console_direct+ --base-paths src"
+# These are for ZED SDK
+# --cmake-args ' -DCMAKE_BUILD_TYPE=Release' \
+# ' -DCMAKE_LIBRARY_PATH=/usr/local/cuda/lib64/stubs' \
+# ' -DCMAKE_CXX_FLAGS=\"-Wl,--allow-shlib-undefined\"'"
 
 #####################
-# BUILD IMAGE (VRX) #
+# DEVELOPMENT IMAGE #
 #####################
-FROM builder AS builder_vrx
-
-## Add Gazebo Repository
-RUN wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg && \
-    echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null && \
-    add-apt-repository -y universe && \
-    apt-get update && apt-get -y --no-install-recommends install \
-    python3-sdformat13 gz-garden \
-    ros-${ROS_DISTRO}-xacro \
-    ros-${ROS_DISTRO}-ros-gzgarden \
-    python3-colcon-common-extensions \
-    ros-${ROS_DISTRO}-image-transport && \
-    apt-get clean && rm -rf /var/lib/apt/lists/*
-
-WORKDIR ${BOAT_WS}/src
-RUN git clone --progress --verbose --recursive --depth 1 --branch 2.4.1 https://github.com/osrf/vrx.git && \
-    cd ${BOAT_WS} && source /opt/ros/${ROS_DISTRO}/setup.bash && \
-    colcon build --parallel-workers $(nproc) --base-paths src --merge-install && \
-    apt-get clean && rm -rf /var/lib/apt/lists/*
-
-
-##############
-# BASE IMAGE #
-##############
-
-FROM ros:humble-ros-core AS base
-SHELL ["/bin/bash", "-c"]
-
-# Use Faster Mirrors
-ARG MIRROR='http://dal.mirrors.clouvider.net' # INFO: Found using apt-select --country US -t 10 
-RUN sed -r -i "s,http://(.*).ubuntu.com,${MIRROR}," /etc/apt/sources.list
+FROM ros:${ROS_DISTRO}-ros-core AS development
 
-# Setup Environment
-ENV USER='root'
-ENV HOME="/${USER}"
+RUN sed -i 's,http://[^ ]*archive\.ubuntu\.com/ubuntu,mirror://mirrors.ubuntu.com/mirrors.txt,g' /etc/apt/sources.list
 
-ENV BOAT_WS='/root/roboboat_ws'
+# Setup Environment
+ARG PKGS_BASE 
+ARG PKGS_SIM
+ARG PKGS_DEV
+ARG BOAT_WS
+ARG ROS_DISTRO 
+ARG USER="root"
+ARG HOME="/${USER}"
+
+ENV USER=${USER}
+ENV HOME=${HOME}
+ENV BOAT_WS=${BOAT_WS}
 RUN mkdir -p ${BOAT_WS}
 
-## ROS2
-ARG DEBIAN_FRONTEND='noninteractive'
-ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
-
 ## .bashrc
 COPY .config/.bashrc ${HOME}/.bashrc
 COPY .config/.bash.d ${HOME}/.bash.d
 
-# Install Developer Packges
-RUN apt-get update && apt-get -y --no-install-recommends install \
-    software-properties-common apt-utils wget curl \
-    python3-minimal python-is-python3 python3-pip && \
-    apt-get clean && rm -rf /var/lib/apt/lists/*
-
-# Setup ROS2 Humble packages
-RUN apt-get update && apt-get -y --no-install-recommends install \
-    python3-vcstool ros-dev-tools \
-    python3-colcon-common-extensions \
-    ros-${ROS_DISTRO}-point-cloud-transport \
-    ros-${ROS_DISTRO}-robot-localization \
-    ros-${ROS_DISTRO}-velodyne \
-    ros-${ROS_DISTRO}-rmw-cyclonedds-cpp && \
-    apt-get clean && rm -rf /var/lib/apt/lists/*
+RUN curl https://packages.osrfoundation.org/gazebo.gpg --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg && \
+  echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] https://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null && \
+  apt-get update -y && apt-get install -y --no-install-recommends \
+  ${PKGS_BASE} ${PKGS_DEV} ${PKGS_SIM} \
+  && apt-get clean && rm -rf /var/lib/apt/lists/*
+
+# Set the RMW implementation to CycloneDDS
+ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
 
+# Copy files from the builder
+COPY --from=builder ${BOAT_WS}/install ${BOAT_WS}/install
 # Add ROS2-Specific configurations to `.bashrc`
-RUN echo "source ${BOAT_WS}/install/setup.bash" >> ${HOME}/.bashrc && \
-    echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> ${HOME}/.bashrc && \
-    echo "source /usr/share/colcon_cd/function/colcon_cd.sh" >> ${HOME}/.bashrc && \
-    echo "source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash" >> ${HOME}/.bashrc && \
-    echo "export _colcon_cd_root=/opt/ros/${ROS_DISTRO}/" >> ${HOME}/.bashrc && \
-    echo "cd ${BOAT_WS}" >> ${HOME}/.bashrc
+RUN /bin/bash -c "\
+  echo 'source /opt/ros/${ROS_DISTRO}/setup.bash' >> ${HOME}/.bashrc; \
+  echo 'source ${BOAT_WS}/install/setup.bash' >> ${HOME}/.bashrc; \
+  echo 'source /usr/share/colcon_cd/function/colcon_cd.sh' >> ${HOME}/.bashrc; \
+  echo 'source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash' >> ${HOME}/.bashrc; \
+  echo 'export _colcon_cd_root=/opt/ros/${ROS_DISTRO}/' >> ${HOME}/.bashrc; \
+  echo 'cd ${BOAT_WS}' >> ${HOME}/.bashrc"
 
 # Set Entrypoint Script
 COPY ./Docker/entrypoint.sh ${HOME}
 RUN chmod +x ${HOME}/entrypoint.sh
-ENTRYPOINT  ["/root/entrypoint.sh"] 
-
-#####################
-# DEVELOPMENT IMAGE #
-#####################
-FROM base AS development
-
-# Copy files from the builder
-COPY --from=builder_vrx ${BOAT_WS}/install ${BOAT_WS}/install
-
-# Install Dependencies
-RUN apt-get update && apt-get -y --no-install-recommends install \
-    net-tools iputils-ping \ 
-    libturbojpeg && \
-    apt-get clean && rm -rf /var/lib/apt/lists/*
-
-# Install Gazebo Garden
-
-## Add Gazebo Repository
-RUN wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg && \
-    echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
-RUN apt-get update && apt-get -y --no-install-recommends install \
-    python3-sdformat13 gz-garden \
-    python3-colcon-common-extensions \
-    ros-${ROS_DISTRO}-xacro \
-    ros-${ROS_DISTRO}-ros-gzgarden \
-    ros-${ROS_DISTRO}-image-transport \
-    ros-${ROS_DISTRO}-rmw-cyclonedds-cpp && \
-    apt-get clean && rm -rf /var/lib/apt/lists/*
-
-#################
-# RELEASE IMAGE #
-#################
-FROM base AS release
-
-WORKDIR ${BOAT_WS}/src
-COPY ./src/roboboat2025_ros2 .
-RUN source /opt/ros/${ROS_DISTRO}/setup.bash && \
-    colcon build --parallel-workers $(nproc) --merge-install --base-paths src && \
-    apt-get clean && rm -rf /var/lib/apt/lists/*
+ENTRYPOINT "${HOME}/entrypoint.sh" 
diff --git a/README.md b/README.md
@@ -1,21 +1,33 @@
-# RoboBoat 2025 Codebase
+# UTD RoboBoat Codebase
 
 ```bash
 .
 ├── .config/
-│   ├── .bash.d
-│   ├── .bashrc
-│   ├── setup-development-enviornment.sh
-│   └── starship.toml
 ├── Docker/
 │   ├── Dockerfile
 │   └── entrypoint.sh
 ├── docker-compose.yml
+├── flake.nix
+├── flake.lock
 ├── README.md
 └── src/
     └── roboboat2025/
 ```
 
+## Development with MacOS
+The images _should_ work on MacOS, seeing as the docker images also build for `linux/arm64`. The only issue that _could_ happen is through display forwarding (i.e. graphical applications not showing on MacOS), in which `xquartz` would be required:
+
+>[!CAUTION]
+> None of these instructions were tested _at all_ by me! I just happened to find them from GitHub Gists ([Gist A](https://gist.github.com/cschiewek/246a244ba23da8b9f0e7b11a68bf3285) and [Gist B](https://gist.github.com/sorny/969fe55d85c9b0035b0109a31cbcb088))
+
+1. Make sure you have [Homebrew](https://brew.sh/) (a package manager for MacOS) installed.
+2. Install `xquartz` with `brew install --cask xquartz`. 
+3. Open the application and on its `preferences -> security` tab, check the box that says "**Allow connections from network clients**".
+4. Relaunch the application
+5. On you terminal, enter `xhost +host.docker.internal` to allow connections from Docker 
+6. ...you should be good to go!
+
+
 ## Running Development Container in a Detached State
 
 You would normally do this whenever you are starting the container in order to attach to it in a code editor such as VSCode: