fixes to docker and building options.

Rumarino-Team / hydrus-software-stack

Unified software stack for the Hydrus submarine that will include computer vision, embedded, and controls code.

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fixes to docker and building options. #24

Closed Cruiz102 closed 1 month ago

Cruiz102 commented 1 month ago

The following pull request is a fix to the docker building with the cpu version, for developing the package and testing purposes.

The following things were added into the repo:

A cpu only version to build the hydrus packages. Now it doesn't download the nvidia pytorch dependencies.
A deploy argument in order to not have errors if you dont have connected the camera or the Arduino.
fix the Cmakefiles that had a building error.

Cruiz102 commented 1 month ago

@ultra-azu I have a question related to the catkin building. In the implementation of Hydrusv2 you put the catkin building instructions as a command instruction in docker, instead of compiling the packages directly with a RUN command, there was a reason for that? I kept that same implementation but I'm just curious.

ultra-azu commented 1 month ago

@ultra-azu I have a question related to the catkin building. In the implementation of Hydrusv2 you put the catkin building instructions as a command instruction in docker, instead of compiling the packages directly with a RUN command, there was a reason for that? I kept that same implementation but I'm just curious.

Yep, because we change the packages quite a bit. Putting it in a RUN command would imply we need to rebuild the container every time we change something in the source code.

ultra-azu commented 1 month ago

~~On another note maybe this PR should go in the pre-release branch. I don't think it's being tested yet in the Jetson.~~ Nvm I noticed this is amd64 related my bad. Maybe it's still better practice if we route it through there but it doesn't matter that much.