Setup Automated Package/Docker Builds

[jdrew1303]

The are a number of different builds that need to be taken into account. Not all versions of each combination will need to be supported. Ideally we would maintain a single openhaptics/driver combination (most recent per device) and then have a build per ros/ubuntu/arch combination. Some of it will be as simple as an ENV flag, others may be more involved. It might be a good idea to break out the legacy device and have them in different branches/repositories?

Wonder if these need to be tested against vanilla ubuntu and ones with the Xenomai or PREEMPT_RT kernel patches? The current UR ROS drives when used with the e-series are meant to use the PREEMPT_RT patch for realtime communication.

The documentation will need to be updated to cover this.

WIP Build Matrix

Ubuntu Version	ROS Version	Device Type	OpenHaptics SDK Version	Device Driver Version	CPU Architecture	Supported
16.04	Kinetic	Firewire			x86_64	🅾️
18.04	Melodic	Firewire			x86_64	✅
20.04	Neotic	Firewire			x86_64	🅾️
16.04	Kinetic	USB/Ethernet	v3.4	v2019.2.15	x86_64	🅾️
18.04	Melodic	USB/Ethernet	v3.4	v2019.2.15	x86_64	✅
20.04	Neotic	USB/Ethernet	v3.4	v2019.2.15	x86_64	🅾️
XX.xx	Melodic	USB/Ethernet	vX.x		ARM*	🅾️

• ARM support is experimental.

Some notes for matrix builds:

• https://blog.thesparktree.com/docker-hub-matrix-builds
• https://github.com/AnalogJ/docker-hub-matrix-builds
• https://docs.docker.com/engine/reference/commandline/build/#set-build-time-variables---build-arg
• https://github.com/jdrew1303/ros_duckie (uses cross compiling for arm builds. this might need tweaking for libs and cpp support. also need to checkout NEON and VFP(v2, v3, v4))
• https://github.com/alpine-ros/alpine-ros

[jdrew1303]

Look at installing firewire drivers in firewire build:

https://github.com/jhu-cisst-external/phantom-omni-1394-drivers

Investigate building a deb:
https://gist.github.com/awesomebytes/196eab972a94dd8fcdd69adfe3bd1152

[jdrew1303]

Initial install script for usb/ethernet drivers:
https://gist.github.com/jdrew1303/5b495058e2d5bfb5f950a7ce5afa118b