update docker setup

Author: Saurav Agarwal

doc/manual/installation.md

@@ -88,7 +88,7 @@ The base image is `agarwalsaurav/pytorch_base` with different tags for different
 |`noble-torch2.5.1-cuda12.6.2-jazzy` | `--with-ros --with-cuda --noble`|
 |`noble-torch2.5.1-cuda12.6.2` | `--with-cuda --noble`|
 |`noble-torch2.5.1-jazzy` | `--with-ros --noble`|
-|`noble-torch2.5.1` | --noble|
+|`noble-torch2.5.1` | `--noble`|
 
 
 Install the library available on PyPI:

doc/manual/quick_start.md

@@ -81,7 +81,7 @@ env.PlotSystemMap("final_map");
 ```
 
 
-See \ref python/coverage_env/coverage_simple.py and \ref python/coverage_env/coverage_class.py for complete examples.
+See \ref python/system_env/coverage_simple.py and \ref python/system_env/coverage_class.py for complete examples.
 
 ---
 

utils/docker/base_images/.bashrc

@@ -130,3 +130,4 @@ export EDITOR="$VISUAL"
 export LC_ALL=C.UTF-8
 export LANG=C.UTF-8
 export PYTHONPATH=/opt/venv/lib/python3.11/site-packages:$PYTHONPATH
+source /opt/venv/bin/activate

utils/docker/base_images/build_all_images.sh

@@ -14,9 +14,13 @@ fi
 build_image() {
     echo "Building image $2"
     TAG_NAME=$2
-    ALL_BUILD_ARGS="--build-arg CUDA_VERSION=${CUDA_VERSION} --build-arg PYTHON_VERSION=${PYTHON_VERSION} --build-arg PYTORCH_VERSION=${PYTORCH_VERSION}"
+    ALL_BUILD_ARGS="--no-cache --build-arg CUDA_VERSION=${CUDA_VERSION} --build-arg PYTHON_VERSION=${PYTHON_VERSION} --build-arg PYTORCH_VERSION=${PYTORCH_VERSION}"
     echo "docker buildx build ${ALL_BUILD_ARGS} -t ${1}:${TAG_NAME} -f $3 ."
     docker buildx build --push ${ALL_BUILD_ARGS} -t ${1}:${TAG_NAME} -f $3 .
+    if [ $? -ne 0 ]; then
+        echo "Failed to build image $2"
+        exit 1
+    fi
 }
 
 CUDA_VERSION="12.4.1"

utils/docker/base_images/ubuntu22.04/Dockerfile

@@ -26,11 +26,14 @@ RUN apt-get	-y update; \
 											 curl \
 											 gdb \
 											 software-properties-common \
-											 ca-certificates \
-											 python${PYTHON_VERSION} \
-											 python${PYTHON_VERSION}-dev \
-											 python${PYTHON_VERSION}-venv \
-											 python-is-python3
+											 ca-certificates
+
+RUN add-apt-repository -y ppa:deadsnakes/ppa; \
+    apt-get -y update; \
+    apt-get -y install \
+                       python${PYTHON_VERSION} \
+                       python${PYTHON_VERSION}-dev \
+                       python${PYTHON_VERSION}-venv
 
 # Add repo for installing latest version of cmake
 RUN wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | gpg --dearmor - | tee /usr/share/keyrings/kitware-archive-keyring.gpg >/dev/null; \
@@ -68,7 +71,6 @@ RUN mkdir download; \
 		unzip download/libtorch.zip -d /opt/; \
 		rm -r download
 
-RUN echo "LD_LIBRARY_PATH=/usr/local/lib:/opt/libtorch/lib:${LD_LIBRARY_PATH}" >> /etc/environment
 ENV Torch_DIR=/opt/libtorch/share/cmake/
 
 COPY requirements_cpu.txt /opt/requirements.txt
@@ -78,4 +80,4 @@ RUN /opt/venv/bin/pip install --no-cache-dir -r /opt/requirements.txt
 ENV VENV_PATH=/opt/venv
 
 COPY .bashrc /root/.bashrc
-RUN echo "source /opt/venv/bin/activate" >> /root/.bashrc
+RUN echo 'LD_LIBRARY_PATH=/usr/local/lib:/opt/libtorch/lib:${LD_LIBRARY_PATH}' >> /root/.bashrc

utils/docker/base_images/ubuntu22.04/cuda-ros2.Dockerfile

@@ -81,7 +81,7 @@ COPY requirements.txt /opt/requirements.txt
 RUN python${PYTHON_VERSION} -m venv /opt/venv
 RUN /opt/venv/bin/pip install --no-cache-dir wheel
 RUN /opt/venv/bin/pip install --no-cache-dir -r /opt/requirements.txt
-RUN /opt/venv/bin/pip install --no-cache-dir catkin_pkg empy==3.3.4 lark
+RUN /opt/venv/bin/pip install --no-cache-dir catkin_pkg empy==3.3.4 lark tomli
 ENV VENV_PATH=/opt/venv
 
 COPY .ros.humble.bashrc /root/.bashrc

utils/docker/base_images/ubuntu22.04/cuda.Dockerfile

@@ -4,7 +4,7 @@ FROM nvidia/cuda:${CUDA_VERSION}-devel-ubuntu22.04 AS base
 SHELL ["/bin/bash", "-c"]
 ENV DEBIAN_FRONTEND=noninteractive
 
-ARG PYTHON_VERSION="3.10"
+ARG PYTHON_VERSION="3.11"
 ARG PYTORCH_VERSION="2.5.1"
 
 ENV PYTHON_VERSION=${PYTHON_VERSION}
@@ -28,11 +28,14 @@ RUN apt-get	-y update; \
 											 curl \
 											 gdb \
 											 software-properties-common \
-											 ca-certificates \
+											 ca-certificates
+
+RUN add-apt-repository -y ppa:deadsnakes/ppa; \
+    apt-get -y update; \
+    apt-get -y install \
                        python${PYTHON_VERSION} \
                        python${PYTHON_VERSION}-dev \
-                       python${PYTHON_VERSION}-venv \
-                       python-is-python3
+                       python${PYTHON_VERSION}-venv
 
 # Add repo for installing latest version of cmake
 RUN wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | gpg --dearmor - | tee /usr/share/keyrings/kitware-archive-keyring.gpg >/dev/null; \
@@ -41,7 +44,6 @@ RUN wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/nul
 		rm /usr/share/keyrings/kitware-archive-keyring.gpg
 
 RUN apt install -y kitware-archive-keyring
-RUN add-apt-repository -y ppa:deadsnakes/ppa; apt-get update; apt-get upgrade
 
 RUN apt-get -y install \
 											 cmake \

utils/docker/base_images/ubuntu22.04/ros2.Dockerfile

@@ -82,7 +82,7 @@ COPY requirements_cpu.txt /opt/requirements.txt
 RUN python${PYTHON_VERSION} -m venv /opt/venv
 RUN /opt/venv/bin/pip install --no-cache-dir wheel
 RUN /opt/venv/bin/pip install --no-cache-dir -r /opt/requirements.txt
-RUN /opt/venv/bin/pip install --no-cache-dir catkin_pkg empy==3.3.4 lark
+RUN /opt/venv/bin/pip install --no-cache-dir catkin_pkg empy==3.3.4 lark tomli
 ENV VENV_PATH=/opt/venv
 
 COPY .ros.humble.bashrc /root/.bashrc

utils/docker/create_container.sh

@@ -65,6 +65,7 @@ if [[ ${ROS_IMAGE} == true ]]; then
 fi
 
 IMAGE_NAME="${IMAGE_BASE_NAME}:${IMAGE_TAG}"
+docker pull ${IMAGE_NAME}
 
 if [ -z ${CONTAINER_NAME} ]; then
 	CONTAINER_NAME="coverage-control-${USER}"
@@ -73,7 +74,7 @@ fi
 docker run -it \
 	--name=${CONTAINER_NAME} \
 	${CONTAINER_OPTIONS} \
-  --env=CoverageControl_WS=${CONTAINER_CC_WS} \
+  --env=CoverageControl_ws=${CONTAINER_CC_WS} \
 	--net=host \
 	--privileged \
 	--ipc=host \