Put versions for all dependencies in dependency_versions and wrote re…

…usable scripts for installing dependencies

README.md

@@ -134,26 +134,29 @@ Make sure that the built library can be found from Python by adapting your Pytho
 
 #### Using Docker
 
-To use franky within Docker we provide a [Dockerfile](docker/run/Dockerfile).
+To use franky within Docker we provide a [Dockerfile](docker/run/Dockerfile) and accompanying [docker-compose](docker-compose.yml) file.
 
 ```bash
 git clone https://github.com/timschneider42/franky.git
 cd franky/
-docker build -t franky --build-arg LIBFRANKA_VERSION=0.13.3 -f docker/run/Dockerfile .
+docker compose build franky-run
 ```
 
-To use another version of libfranka than the default (v.0.13.3) simply change the build argument. Then, to run the container simply:
-
+To use another version of libfranka than the default (v0.13.3) add a build argument:
 ```bash
-docker run -it --rm --network=host --privileged franky /bin/bash
+docker compose build franky-run --build-arg LIBFRANKA_VERSION=0.9.2
 ```
 
+To run the container:
+```bash
+docker compose run franky-run bash
+```
 The container requires access to the host machines network *and* elevated user rights to allow the docker user to set RT capabilities of the processes run from within it.
 
 
 #### Building franky with Docker
 
-For building franky and its wheels, we provide a Docker container that can be launched using docker-compose:
+For building franky and its wheels, we provide another Docker container that can also be launched using docker-compose:
 
 ```bash
 docker compose build

dependency_versions

@@ -0,0 +1,4 @@
+EIGEN_VERSION=3.4.0
+PYBIND11_VERSION=2.11.1
+CATCH2_VERSION=2.13.8
+LIBFRANKA_DEFAULT_VERSION=0.13.3

docker-compose.yml

@@ -1,6 +1,14 @@
 services:
   franky-build:
-    build: ./docker/build
+    build:
+      context: .
+      dockerfile: ./docker/build/Dockerfile
     volumes:
       - ./:/code
       - ./build:/build
+  franky-run:
+    build:
+      context: .
+      dockerfile: ./docker/run/Dockerfile
+    network_mode: "host"
+    privileged: true

docker/build/Dockerfile

@@ -4,62 +4,23 @@ LABEL maintainer="Tim Schneider <[email protected]>"
 
 RUN yum -y install poco-devel*
 
-WORKDIR /tmp
-
-RUN git clone https://gitlab.com/libeigen/eigen.git \
-    && cd eigen \
-    && git checkout 3.4.0 \
-    && mkdir build && cd build \
-    && cmake .. \
-    && make install \
-    && cd /tmp && rm -rf eigen
-
-RUN git clone https://github.com/catchorg/Catch2.git \
-    && cd Catch2 \
-    && git checkout v2.13.8 \
-    && mkdir build && cd build \
-    && cmake -DCATCH_BUILD_TESTING=OFF -DCATCH_ENABLE_WERROR=OFF -DCATCH_INSTALL_DOCS=OFF -DCATCH_INSTALL_HELPERS=OFF .. \
-    && make install \
-    && cd /tmp && rm -rf Catch2
-
-RUN git clone https://github.com/pybind/pybind11.git \
-    && cd pybind11 \
-    && git checkout v2.11.1 \
-    && mkdir build && cd build \
-    && cmake -DPYBIND11_TEST=OFF .. \
-    && make -j$(nproc) \
-    && make install \
-    && cd /tmp && rm -rf pybind11
+ADD dependency_versions /tmp/
+ADD docker/common/ /tmp/common/
+ARG LIBFRANKA_VERSION
+RUN set -a && . /tmp/dependency_versions && set +a \
+    && /tmp/common/install-dependencies
 
 ARG PYBIN_SUPPORTED_VERSIONS="cp3(7m|8|9|10|11|12)"
-ENV PYBIN_SUPPORTED_VERSIONS=${PYBIN_SUPPORTED_VERSIONS}
-RUN for PYBIN in /opt/python/*/bin; do \
-      if [[ "${PYBIN}" =~ ${PYBIN_SUPPORTED_VERSIONS} ]]; then \
-        "${PYBIN}/pip" install cmake setuptools wheel --user; \
-      fi; \
-    done \
-    && ln -f -s $HOME/.local/bin/cmake /usr/bin/cmake
-
-ARG LIBFRANKA_VERSION=0.13.3
-RUN git clone --recursive https://github.com/frankaemika/libfranka.git \
-    && cd libfranka \
-    && git checkout "${LIBFRANKA_VERSION}" \
-    # Cherry-pick missing imports commit
-    && git config user.email "[email protected]" \
-    && git config user.name "John Doe" \
-    && if ! git merge-base --is-ancestor f1f46fb HEAD; then git cherry-pick -m 1 f1f46fb; fi \
-    && git submodule update \
-    && mkdir build && cd build \
-    && cmake -DBUILD_TESTS=OFF -DBUILD_EXAMPLES=OFF .. \
-    && make -j$(nproc) \
-    && make install \
-    && cd /tmp && rm -rf libfranka
+RUN /tmp/common/manylinux-setup-pip
 
 # Set working directory
 RUN mkdir -p /code
 RUN mkdir -p /build
 VOLUME /code
 VOLUME /build
 WORKDIR /build
-ADD build-wheels /usr/bin/
-ADD run-tests /usr/bin/
+ADD docker/build/build-wheels /usr/bin/
+ADD docker/build/run-tests /usr/bin/
+
+# Cleaning up
+RUN rm -rf /tmp/common

docker/common/install-catch2

@@ -0,0 +1,15 @@
+#!/bin/bash
+set -e
+
+echo "Installing Catch2 version ${CATCH2_VERSION}..."
+TMP_DIR="$(mktemp -d)"
+git clone https://github.com/catchorg/Catch2.git "${TMP_DIR}"
+cd "${TMP_DIR}"
+git checkout "v${CATCH2_VERSION}"
+mkdir build
+cd build
+cmake -DCATCH_BUILD_TESTING=OFF -DCATCH_ENABLE_WERROR=OFF -DCATCH_INSTALL_DOCS=OFF -DCATCH_INSTALL_HELPERS=OFF ..
+make install
+cd /
+rm -rf "${TMP_DIR}"
+echo "Catch2 installed successfully"

docker/common/install-dependencies

@@ -0,0 +1,11 @@
+#!/bin/bash
+set -e
+
+SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )"
+
+echo "Installing dependencies..."
+"${SCRIPT_DIR}/install-eigen"
+"${SCRIPT_DIR}/install-pybind11"
+"${SCRIPT_DIR}/install-catch2"
+"${SCRIPT_DIR}/install-libfranka"
+echo "Dependencies installed successfully"

docker/common/install-eigen

@@ -0,0 +1,15 @@
+#!/bin/bash
+set -e
+
+echo "Installing Eigen version ${EIGEN_VERSION}..."
+TMP_DIR="$(mktemp -d)"
+git clone https://gitlab.com/libeigen/eigen.git "${TMP_DIR}"
+cd "${TMP_DIR}"
+git checkout "${EIGEN_VERSION}"
+mkdir build
+cd build
+cmake ..
+make install
+cd /
+rm -rf "${TMP_DIR}"
+echo "Eigen installed successfully"

docker/common/install-libfranka

@@ -0,0 +1,26 @@
+#!/bin/bash
+set -e
+
+LIBFRANKA_VERSION="${LIBFRANKA_VERSION:-${LIBFRANKA_DEFAULT_VERSION}}"
+echo "Installing libfranka version ${LIBFRANKA_VERSION}..."
+TMP_DIR="$(mktemp -d)"
+git clone --recursive https://github.com/frankaemika/libfranka.git "${TMP_DIR}"
+cd "${TMP_DIR}"
+
+git checkout "${LIBFRANKA_VERSION}"
+
+# Cherry-pick missing imports commit
+git config user.email "[email protected]"
+git config user.name "John Doe"
+if ! git merge-base --is-ancestor f1f46fb HEAD; then git cherry-pick -m 1 f1f46fb; fi
+git submodule update
+
+mkdir build
+cd build
+cmake -DBUILD_TESTS=OFF -DBUILD_EXAMPLES=OFF ..
+make -j "$(nproc)"
+make install
+
+cd /
+rm -rf "${TMP_DIR}"
+echo "libfranka installed successfully"

docker/common/install-pybind11

@@ -0,0 +1,16 @@
+#!/bin/bash
+set -e
+
+echo "Installing pybind11 version ${PYBIND11_VERSION}..."
+TMP_DIR="$(mktemp -d)"
+git clone https://github.com/pybind/pybind11.git "${TMP_DIR}"
+cd "${TMP_DIR}"
+git checkout "v${PYBIND11_VERSION}"
+mkdir build
+cd build
+cmake -DPYBIND11_TEST=OFF ..
+make -j "$(nproc)"
+make install
+cd /
+rm -rf "${TMP_DIR}"
+echo "pybind11 installed successfully"

docker/common/manylinux-setup-pip

@@ -0,0 +1,10 @@
+#!/bin/bash
+set -e
+
+echo "Setting up pip..."
+for PYBIN in /opt/python/*/bin; do
+  if [[ "${PYBIN}" =~ ${PYBIN_SUPPORTED_VERSIONS} ]]; then
+    "${PYBIN}/pip" install setuptools wheel --user
+  fi
+done
+echo "pip set up successfully"

docker/run/Dockerfile

@@ -5,47 +5,11 @@ LABEL maintainer="Tim Schneider <[email protected]>"
 ENV DEBIAN_FRONTEND=noninteractive
 RUN apt-get update && apt-get -y install build-essential cmake git libpoco-dev catch2 python3-dev
 
-WORKDIR /tmp
-
-RUN git clone https://gitlab.com/libeigen/eigen.git \
-    && cd eigen \
-    && git checkout 3.4.0 \
-    && mkdir build && cd build \
-    && cmake .. \
-    && make install \
-    && cd /tmp && rm -rf eigen
-
-RUN git clone https://github.com/catchorg/Catch2.git \
-    && cd Catch2 \
-    && git checkout v2.13.8 \
-    && mkdir build && cd build \
-    && cmake -DCATCH_BUILD_TESTING=OFF -DCATCH_ENABLE_WERROR=OFF -DCATCH_INSTALL_DOCS=OFF -DCATCH_INSTALL_HELPERS=OFF .. \
-    && make install \
-    && cd /tmp && rm -rf Catch2
-
-RUN git clone https://github.com/pybind/pybind11.git \
-    && cd pybind11 \
-    && git checkout v2.11.1 \
-    && mkdir build && cd build \
-    && cmake -DPYBIND11_TEST=OFF .. \
-    && make -j$(nproc) \
-    && make install \
-    && cd /tmp && rm -rf pybind11
-
-ARG LIBFRANKA_VERSION=0.13.3
-RUN git clone --recursive https://github.com/frankaemika/libfranka.git \
-    && cd libfranka \
-    && git checkout "${LIBFRANKA_VERSION}" \
-    # Cherry-pick missing imports commit
-    && git config user.email "[email protected]" \
-    && git config user.name "John Doe" \
-    && if ! git merge-base --is-ancestor f1f46fb HEAD; then git cherry-pick -m 1 f1f46fb; fi \
-    && git submodule update \
-    && mkdir build && cd build \
-    && cmake -DBUILD_TESTS=OFF -DBUILD_EXAMPLES=OFF .. \
-    && make -j$(nproc) \
-    && make install \
-    && cd /tmp && rm -rf libfranka
+ADD dependency_versions /tmp/
+ADD docker/common/ /tmp/common/
+ARG LIBFRANKA_VERSION
+RUN set -a && . /tmp/dependency_versions && set +a \
+    && /tmp/common/install-dependencies
 
 RUN git clone https://github.com/TimSchneider42/franky.git --recurse-submodules \
     && cd franky \
@@ -54,3 +18,6 @@ RUN git clone https://github.com/TimSchneider42/franky.git --recurse-submodules
     && make -j$(nproc) \
     && make install \
     && cd /tmp && rm -rf franky
+
+# Cleaning up
+RUN rm -rf /tmp/common