[TASK] Docker Dev Environment on Orin

[jorgenfj]

Description of task

We would like a developer environment for the Orin so we can easily test our code on the required hardware. We have a basic dev-container already set up on the Orin. What remains is tweaking it to our desired use case and integrating our own custom images.

Suggested Workflow

• The current docker setup was produced by following this Developer Environment Setup. Read through this guide and understand the current setup.
• The next step is to customize the development environment by following the this on how to customize the environment.

Specifications

• The config to configure the development environment is placed in the home directory in the provided guide. It is preferred if all docker related configs are embedded within the git repository.
• We plan to utilize different packages from Isaac Ros v3.1. Since we are dependent on these packages, figure out if we should rely on the dockerfiles and scripts from the isaac_ros_common as our base image / entrypoint. The alternative would be to create own dockerfiles and scripts directly in the perception-auv repo
• A nice modular design is if each ros package has its own dockerfile to build upon the base image. It would be preferred if the dockerfiles in the submodules for example aruco detection could be launched as standalone containers without relying on the perception-auv repo. Figure out if this is doable with the current setup.

Contacts

@jorgenfj
@Senja20

Code Quality

• Every function in header files are documented (inputs/returns/exceptions)
• The project has automated tests that cover MOST of the functions and branches in functions (pytest/gtest)
• The code is documented on the wiki (provide link)

[VegraD]

create own scrips?! are you crazy??

[VegraD]

Should talk to @kluge7 regarding dockerizing ros nodes preferably thursday 17th or sunday 19th.