Docker images used across multiple repositories supporting simulation of water-related robotics

See google doc for personal notes on usage & debugging: https://docs.google.com/document/d/1bstj2t2Geap9SZYHrgjJwSUrsVRTuBC4MVZS_xawNPw/edit#heading=h.8r7g6fhmdo5h

This repository supports baseline images for running Gazebo on the following ROS distributions:

• Humble (Ubuntu 22.04 Jammy Jellyfish / ROS 2 Humble Hawksbill / Gazebo Garden)
• Galactic (Ubuntu 20.04 Focal Fossa / ROS 2 Galactic Geochelone / Ignition Fortress)
• Noetic (Ubuntu 20.04 Focal Fossa / ROS Noetic Ninjemys / Gazebo 11)
• Melodic (Ubuntu 18.04 Bionic Beaver / ROS Melodic Morenia / Gazebo 9)
• Kinetic (Ubuntu 18.04 Xenial Xerus / ROS Kinetic Kame / Gazebo 7)

The latest images corresponding to each of the three distributions above are stored in the npslearninglab/watery_robots repository on Dockerhub.

Build the base image with the build.bash script.

DIST=(noetic | melodic | kinetic)
./build.bash ${DIST}

Run the image locally using the run.bash script:

./run.bash ${DIST}:latest

To build an image for use in continuous integration pipelines, we need to use a slightly different rocker command from the one that's called in the run.bash script. The reason is to avoid pulling in local user information or mounting the local home directory.

rocker --dev-helpers --nvidia --user --user-override-name=developer ${image_name}

Note: The --user-override-name option is currently only available in the latest build (following the rocker Development installation instructions).

The image resulting from the rocker command will be unnamed. To push to a repository, look up the ID with docker image ls and apply the appropriate tag:

docker tag <ID> <repository_namespace>/<repository>:<tag>
docker push <repository_namespace>/<repository>:<tag>