adding setup for dev containers (#1)

Edwardius · web-flow · commit 227e6be39940 · 2025-08-06T21:25:08.000-07:00
diff --git a/.devcontainer/.env b/.devcontainer/.env
@@ -1,3 +1,4 @@
 USER=eddy
 USER_UID=1000
 USER_GID=1000
+ROS_DISTRO=humble
diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
@@ -1,20 +1,18 @@
-ARG BASE_IMAGE
-FROM $BASE_IMAGE
+# Multi-version ROS2 development container
+ARG ROS_DISTRO=humble
+FROM ros:${ROS_DISTRO}-ros-base
 
-# Basic build tools
-RUN apt update && apt install -y \
-    build-essential \
-    cmake \
-    git \
-    wget \
-    lsb-release \
-    curl \
-    sudo \
-    python3-pip \
+# Install only essential ROS development tools not in base image
+RUN apt-get update && apt-get install -y \
+    python3-colcon-common-extensions \
+    python3-rosdep \
     && rm -rf /var/lib/apt/lists/*
 
+# Initialize rosdep
+RUN rosdep init || true
+
 # Set working dir (matches VSCode workspace)
-WORKDIR /workspaces/deep_ros
+WORKDIR /deep_ros_ws
 
 # Cater image to user
 ARG USERNAME
@@ -34,3 +32,6 @@ RUN source /tmp/.env && rm /tmp/.env \
 
 # Set the default user. Omit if you want to keep the default as root.
 USER $USERNAME
+
+# Source ROS in user's bashrc
+RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /home/$USERNAME/.bashrc
diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
@@ -3,19 +3,25 @@
   "build": {
     "dockerfile": "Dockerfile",
     "args": {
+      "ROS_DISTRO": "${localEnv:ROS_DISTRO:humble}",
       "USERNAME": "${localEnv:USER}"
     }
   },
+  "containerEnv": {
+    "ROS_DISTRO": "${localEnv:ROS_DISTRO:humble}"
+  },
   "customizations": {
     "vscode": {
       "extensions": [
-        "ms-iot.vscode-ros",
         "ms-vscode.cpptools",
         "ms-vscode.cmake-tools",
-        "twxs.cmake",
-        "ms-azuretools.vscode-docker"
+        "ms-python.python",
+        "redhat.vscode-xml"
       ]
     }
   },
-  "workspaceFolder": "/workspaces/deep_ros"
+  "workspaceFolder": "/deep_ros_ws",
+  "workspaceMount": "source=${localWorkspaceFolder},target=/deep_ros_ws,type=bind",
+  "containerName": "deep-ros-devcontainer",
+  "hostname": "devcontainer"
 }
diff --git a/.devcontainer/gen_env.sh b/.devcontainer/gen_env.sh
@@ -2,14 +2,20 @@
 
 set -e
 
-BASE_IMAGE="ros:humble"
+# Check if ROS_DISTRO was provided as argument
+if [ $# -eq 0 ]; then
+    echo "Usage: $0 <ros_distro>"
+    exit 1
+fi
+
+ROS_DISTRO="$1"
 ENV_FILE=".devcontainer/.env"
 
 echo "Generating $ENV_FILE ..."
 echo "USER=$(whoami)" > "$ENV_FILE"
 echo "USER_UID=$(id -u)" >> "$ENV_FILE"
 echo "USER_GID=$(id -g)" >> "$ENV_FILE"
-echo "BASE_IMAGE=$BASE_IMAGE" >> "$ENV_FILE"
+echo "ROS_DISTRO=$ROS_DISTRO" >> "$ENV_FILE"
 
 echo "Done. Contents:"
 cat "$ENV_FILE"
diff --git a/.vscode/tasks.json b/.vscode/tasks.json
@@ -2,14 +2,25 @@
   "version": "2.0.0",
   "tasks": [
     {
-      "label": "Generate .env for devcontainer",
+      "label": "Setup Devcontainer",
       "type": "shell",
-      "command": "./.devcontainer/gen_env.sh",
+      "command": "./.devcontainer/gen_env.sh ${input:rosDistro}",
       "problemMatcher": [],
-      "group": {
-        "kind": "build",
-        "isDefault": true
-      }
+      "group": "build"
+    }
+  ],
+  "inputs": [
+    {
+      "id": "rosDistro",
+      "type": "pickString",
+      "description": "Select ROS2 distribution",
+      "options": [
+        "humble",
+        "iron",
+        "jazzy",
+        "rolling"
+      ],
+      "default": "humble"
     }
   ]
 }
diff --git a/DEVELOPING.md b/DEVELOPING.md
@@ -0,0 +1,50 @@
+# Development Guide
+
+## Using Dev Containers
+
+This project includes VS Code dev container configurations for easy ROS2 development across different distributions.
+
+### Prerequisites
+
+- Docker installed and running
+- VS Code with the "Dev Containers" extension installed
+
+### Getting Started
+
+1. **Choose ROS distribution**:
+   - Press `Ctrl+Shift+P` and run "Tasks: Run Task"
+   - Select "Switch ROS Distro"
+   - Choose from: `humble`, `iron`, `jazzy`, or `rolling`
+
+2. **Rebuild and open in container**:
+   - The container will automatically rebuild and reopen with your selected ROS version
+
+### Container Features
+
+- **Workspace**: Your code is mounted at `/deep_ros_ws`
+- **ROS sourcing**: ROS is automatically sourced in your shell
+- **Build tools**: Includes `colcon` and `rosdep` for ROS development
+- **Extensions**: C++, CMake, Python, and XML support pre-installed
+
+### Common Commands
+
+Inside the container:
+
+```bash
+# Update rosdep
+rosdep update
+
+# Install dependencies
+rosdep install --from-paths src --ignore-src -r -y
+
+# Build packages
+colcon build
+
+# Source workspace
+source install/setup.bash
+```
+
+### Troubleshooting
+
+- If the container fails to build, check that Docker is running
+- To rebuild from scratch: "Dev Containers: Rebuild Container"
diff --git a/deep_tools/README.md b/deep_tools/README.md
@@ -0,0 +1,26 @@
+# (TODO) Deep Tools - ROS CLI for ONNX Model Management
+
+ROS2 CLI tool for ONNX model validation and compatibility checking.
+
+## Commands
+
+```bash
+ros2 model check model.onnx                    # Check compatibility with available ROS nodes
+ros2 model validate model.onnx                 # Validate ONNX structure and integrity  
+ros2 model info model.onnx                     # Show model I/O shapes, operations, metadata
+ros2 model list-nodes                          # Show available Deep ROS node types
+```
+
+## Design Principles
+
+- **No conversion**: Model conversion is implementation-specific and handled by model_farm
+- **Framework-agnostic**: Only works with existing ONNX files
+- **Pure inspection**: Validates and analyzes models, doesn't modify them
+- **ROS integration**: Follows ROS2 CLI patterns like `ros2 bag`
+
+## Architecture
+
+- Compatibility checking via node specification files
+- Generic ONNX validation using onnx library
+- Model introspection for I/O analysis
+- Integration with Deep ROS node ecosystem
diff --git a/deep_tools/deep_tools/__init__.py b/deep_tools/deep_tools/__init__.py
@@ -0,0 +1 @@
+# Deep Tools - ROS CLI for ONNX Model Management
diff --git a/deep_tools/deep_tools/command/check.py b/deep_tools/deep_tools/command/check.py
@@ -0,0 +1,2 @@
+# Compatibility checking verb
+# ros2 model check model.onnx
diff --git a/deep_tools/deep_tools/command/info.py b/deep_tools/deep_tools/command/info.py
@@ -0,0 +1,2 @@
+# Model information verb  
+# ros2 model info model.onnx
diff --git a/deep_tools/deep_tools/command/list_nodes.py b/deep_tools/deep_tools/command/list_nodes.py
@@ -0,0 +1,2 @@
+# List available node types verb
+# ros2 model list-nodes
diff --git a/deep_tools/deep_tools/command/model.py b/deep_tools/deep_tools/command/model.py
@@ -0,0 +1,2 @@
+# Main model command entry point
+# ros2 model <verb> <args>
diff --git a/deep_tools/deep_tools/command/validate.py b/deep_tools/deep_tools/command/validate.py
@@ -0,0 +1,2 @@
+# ONNX validation verb
+# ros2 model validate model.onnx
diff --git a/deep_tools/node_specs/image_classification.yaml b/deep_tools/node_specs/image_classification.yaml
@@ -0,0 +1,10 @@
+# Node compatibility specification for image classification
+name: "Image Classification Node"
+inputs:
+  - name: "image"
+    shape: [null, 3, null, null]  # [batch, channels, height, width]
+    dtype: ["float32"]
+outputs:
+  - name: "logits" 
+    shape: [null, null]           # [batch, num_classes]
+    dtype: ["float32"]
diff --git a/model_farm/README.md b/model_farm/README.md
@@ -0,0 +1,38 @@
+# Model Farm - Modular ML Project Infrastructure
+
+Sandbox environment for training and converting ML models with isolated dependencies.
+
+## Philosophy
+
+- Each project is self-contained with its own Docker environment
+- **Conversion is left to implementers** - we provide examples but don't enforce methods
+- Projects can use any framework version without conflicts
+- Infrastructure scripts in bash for speed and simplicity
+- Specialized tasks (like quantization) in Python
+
+## Structure
+
+```
+model_farm/
+├── farm                    # Bash script for project management
+├── projects/              # Individual ML projects
+│   └── example_pytorch/   # Example showing PyTorch->ONNX conversion
+├── examples/              # Conversion examples for different frameworks
+│   ├── pytorch_to_onnx.py
+│   ├── tf_to_onnx.py
+│   └── huggingface_to_onnx.py
+└── templates/             # Project templates
+```
+
+## Conversion Approach
+
+**We don't dictate how to convert models.** Each project knows best how to export their specific model to ONNX. We provide:
+
+1. Example conversion scripts for common frameworks
+2. Docker environments with necessary dependencies
+3. Infrastructure to run conversions in isolated environments
+
+Projects are responsible for:
+- Choosing conversion method
+- Handling model-specific requirements (input shapes, preprocessing)
+- Ensuring ONNX output is valid
diff --git a/model_farm/conversion_scripts/README.md b/model_farm/conversion_scripts/README.md
@@ -0,0 +1,58 @@
+# ONNX Conversion Scripts
+
+Helper scripts for converting models from various frameworks to ONNX format.
+
+## Available Scripts
+
+### pytorch_to_onnx.py
+Converts PyTorch models (.pt, .pth) to ONNX.
+
+```bash
+python pytorch_to_onnx.py model.pt model.onnx --input-shape 1,3,224,224
+```
+
+Features:
+- Automatic format detection
+- Dynamic batch size support
+- Custom input/output naming
+- Model validation
+
+### tensorflow_to_onnx.py
+Converts TensorFlow models (SavedModel, Keras .h5, TFLite) to ONNX.
+
+```bash
+python tensorflow_to_onnx.py saved_model_dir/ model.onnx
+python tensorflow_to_onnx.py model.h5 model.onnx
+```
+
+Supported formats:
+- TensorFlow SavedModel
+- Keras H5/Keras files
+- TFLite (with guidance)
+
+### huggingface_to_onnx.py
+Converts Hugging Face Transformers models to ONNX.
+
+```bash
+python huggingface_to_onnx.py bert-base-uncased bert.onnx
+python huggingface_to_onnx.py ./local_model_dir model.onnx --optimize
+```
+
+Features:
+- Automatic model type detection
+- Task-specific exports
+- Optional optimization for inference
+- Support for BERT, GPT-2, ViT, CLIP, etc.
+
+## Usage in Projects
+
+These scripts are automatically mounted when using the farm tool:
+
+```bash
+# From model_farm directory
+./farm run my_project python /workspace/conversion_scripts/pytorch_to_onnx.py model.pt model.onnx --input-shape 1,3,224,224
+```
+
+## Creating Custom Converters
+
+For models with specific requirements, create custom conversion scripts in your project directory. Use these scripts as examples of common patterns.
diff --git a/model_farm/conversion_scripts/huggingface_to_onnx.py b/model_farm/conversion_scripts/huggingface_to_onnx.py
diff --git a/model_farm/conversion_scripts/pytorch_to_onnx.py b/model_farm/conversion_scripts/pytorch_to_onnx.py
diff --git a/model_farm/conversion_scripts/tensorflow_to_onnx.py b/model_farm/conversion_scripts/tensorflow_to_onnx.py
diff --git a/model_farm/farm b/model_farm/farm

Original file line number	Diff line number	Diff line change
`@@ -0,0 +1 @@`
	`1`	`+# Deep Tools - ROS CLI for ONNX Model Management`
Original file line number	Diff line number	Diff line change
`@@ -0,0 +1,2 @@`
	`1`	`+# Compatibility checking verb`
	`2`	`+# ros2 model check model.onnx`
Original file line number	Diff line number	Diff line change
`@@ -0,0 +1,2 @@`
	`1`	`+# Model information verb`
	`2`	`+# ros2 model info model.onnx`