From 32a395f7e60c38b77d8cc25033b0988098769c6a Mon Sep 17 00:00:00 2001
From: pimpest <82343504+pimpest@users.noreply.github.com>
Date: Mon, 5 Jan 2026 03:13:34 +0100
Subject: [PATCH] Add scripts for building/pushing to docker registry

---
 Dockerfile.env => Dockerfile.base.env    |  6 +--
 docker-compose.yaml                      |  4 +-
 scripts/docker_build.sh                  | 55 ++++++++++++++++++++++++
 scripts/install_base_deps.sh             | 17 ++++++++
 util/docker_registry/config/config.yml   |  9 ++++
 util/docker_registry/docker-compose.yaml | 13 ++++++
 6 files changed, 98 insertions(+), 6 deletions(-)
 rename Dockerfile.env => Dockerfile.base.env (69%)
 create mode 100755 scripts/docker_build.sh
 create mode 100755 scripts/install_base_deps.sh
 create mode 100644 util/docker_registry/config/config.yml
 create mode 100644 util/docker_registry/docker-compose.yaml

diff --git a/Dockerfile.env b/Dockerfile.base.env
similarity index 69%
rename from Dockerfile.env
rename to Dockerfile.base.env
index 944299e..333fad0 100644
--- a/Dockerfile.env
+++ b/Dockerfile.base.env
@@ -1,4 +1,4 @@
-FROM arm64v8/ros:jazzy as magrob.env
+FROM arm64v8/ros:jazzy-ros-core AS magrob.base.env
 
 RUN mkdir -p /ros_ws/src
 WORKDIR /ros_ws/src
@@ -7,9 +7,7 @@ RUN --mount=type=bind,source=./,target=/ros_ws/src/ \
     --mount=type=cache,target=/var/cache/apt,sharing=locked \
     --mount=type=cache,target=/var/lib/apt,sharing=locked \
     . /opt/ros/jazzy/setup.sh && \
-    apt update && \
-    apt-get install -y ros-jazzy-hardware-interface && \
-    rosdep install -i --from-paths . -y
+    scripts/install_base_deps.sh
 
 RUN cat <<EOF >> /root/.bashrc
 source /opt/ros/jazzy/setup.bash
diff --git a/docker-compose.yaml b/docker-compose.yaml
index 6241927..cbd1659 100644
--- a/docker-compose.yaml
+++ b/docker-compose.yaml
@@ -1,9 +1,9 @@
 services:
   magrob_base:
     network_mode: host
-    image: localhost/magrob.env
+    image: localhost/magrob.base.env
     build: 
-      dockerfile: Dockerfile.env
+      dockerfile: Dockerfile.base.env
 
     entrypoint: ["sleep","infinity"]
     volumes:
diff --git a/scripts/docker_build.sh b/scripts/docker_build.sh
new file mode 100755
index 0000000..04f1761
--- /dev/null
+++ b/scripts/docker_build.sh
@@ -0,0 +1,55 @@
+usage() {
+	cat <<EOF
+Usage:
+	docker_build.sh <target> <registry> [<args>]
+	docker_build.sh -h
+
+	Build and push a docker image to a arm64v8 registry
+
+	Targets: 
+		base     The pacakges aimed at running on the raspberry pi
+EOF
+}
+
+
+TARGET="$1"
+REGISTRY="$2"
+ARGS="$2"
+
+if [[ $TARGET == "-h" || $TARGET == "--help" ]]; then
+	usage
+	exit 0
+fi
+
+if [[ $# -lt 2 ]]; then
+	echo "Error: Expected at least 2 arguments."
+	usage
+	exit 1
+fi
+
+trap "trap - SIGTERM && kill -- -$$" SIGINT SIGTERM EXIT
+
+case $TARGET in
+	"base_env") 
+		ssh -N \
+			-o StrictHostKeyChecking=no \
+			-o UserKnownHostsFile=/dev/null \
+			-L *:5000:localhost:5000 \
+			$REGISTRY &
+
+		echo "Building target: base"
+
+		sudo docker buildx build \
+			--platform linux/arm64 \
+			-t host.docker.internal:5000/magrob.env:latest \
+			-f Dockerfile.env \
+			--output type=registry \
+			.
+		;;
+	*)
+		echo "Target not defined"
+		exit 1
+		;;
+esac
+
+
diff --git a/scripts/install_base_deps.sh b/scripts/install_base_deps.sh
new file mode 100755
index 0000000..41cc1ac
--- /dev/null
+++ b/scripts/install_base_deps.sh
@@ -0,0 +1,17 @@
+#!/bin/bash
+
+
+ros_distro="jazzy"
+script_dir=$(dirname "$(readlink -f "${bash_source[0]}")")
+
+source "/opt/ros/${ROS_DISTRO}/setup.bash"
+apt update
+apt-get install -y ros-jazzy-hardware-interface # For some reason this package is problamatic
+rosdep install -i -y \
+    --from-paths ./mg_bringup \
+    --from-paths ./mg_msgs \
+    --from-paths ./mg_navigation \
+    --from-paths ./mg_control \
+    --from-paths ./mg_odometry \
+    --from-paths ./mg_obstacles \
+    --from-paths ./mg_lidar
diff --git a/util/docker_registry/config/config.yml b/util/docker_registry/config/config.yml
new file mode 100644
index 0000000..0bf56a2
--- /dev/null
+++ b/util/docker_registry/config/config.yml
@@ -0,0 +1,9 @@
+version: 0.1
+storage:
+  filesystem:
+    rootdirectory: /var/lib/registry
+http:
+  addr: :5000
+  headers:
+    X-Content-Type-Options: [nosniff]
+
diff --git a/util/docker_registry/docker-compose.yaml b/util/docker_registry/docker-compose.yaml
new file mode 100644
index 0000000..9d31a97
--- /dev/null
+++ b/util/docker_registry/docker-compose.yaml
@@ -0,0 +1,13 @@
+services:
+  registry:
+    restart: always
+    image: registry:2
+    ports:
+      - 5000:5000
+    environment:
+      REGISTRY_HTTP_TLS_CERTIFICATE: /certs/domain.crt
+      REGISTRY_HTTP_TLS_KEY: /certs/domain.key
+      REGISTRY_STORAGE_FILESYSTEM_ROOTDIRECTORY: /var/lib/registry
+    volumes:
+      - ./config/config.yml:/etc/docker/registry/config.yml:ro
+      - ./data:/var/lib/registry:rw