Adds a dockerfile for webots with nuwebots and robocup environments

webots-docker/Dockerfile

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+ARG BASE_IMAGE=nvidia/cuda:11.8.0-base-ubuntu22.04
+FROM ${BASE_IMAGE} AS downloader
+
+# Determine Webots version to be used and set default argument
+ARG WEBOTS_VERSION=R2023b
+ARG WEBOTS_PACKAGE_PREFIX=
+
+# Disable dpkg/gdebi interactive dialogs
+ENV DEBIAN_FRONTEND=noninteractive
+
+RUN apt-get update
+RUN apt-get install --yes \
+  wget\
+  bzip2
+
+RUN rm -rf /var/lib/apt/lists/
+RUN wget https://github.com/cyberbotics/webots/releases/download/$WEBOTS_VERSION/webots-$WEBOTS_VERSION-x86-64$WEBOTS_PACKAGE_PREFIX.tar.bz2
+RUN tar xjf webots-*.tar.bz2 
+RUN rm webots-*.tar.bz2
+
+FROM ${BASE_IMAGE}
+
+# Disable dpkg/gdebi interactive dialogs
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Install Webots runtime dependencies
+RUN apt-get update
+RUN apt-get install --yes \
+  wget \
+  xvfb \
+  locales 
+RUN wget https://raw.githubusercontent.com/cyberbotics/webots/master/scripts/install/linux_runtime_dependencies.sh 
+RUN chmod +x linux_runtime_dependencies.sh
+RUN ./linux_runtime_dependencies.sh
+RUN rm ./linux_runtime_dependencies.sh
+
+# Webots complains if run by root
+RUN useradd webots
+ENV HOME=/home/webots
+WORKDIR ${HOME}
+
+# Install Webots
+COPY --from=downloader /webots /usr/local/webots/
+ENV QTWEBENGINE_DISABLE_SANDBOX=1
+ENV WEBOTS_HOME /usr/local/webots
+ENV PATH /usr/local/webots:${PATH}
+
+# Enable OpenGL capabilities
+ENV NVIDIA_DRIVER_CAPABILITIES=graphics,compute,utility
+
+# Dependencies for building NUbots and Robocup code
+RUN apt-get update
+RUN apt-get install --yes \
+  ant \
+  cmake-curses-gui \
+  libprotobuf-dev \
+  protobuf-compiler \
+  libeigen3-dev \
+  libyaml-cpp-dev \
+  ninja-build \
+  clang-tidy \
+  python3-dev \
+  libjpeg9-dev \
+  git \
+  python3-pip \
+  vim \
+  nano
+
+RUN rm -rf /var/lib/apt/lists/
+
+# Build the latest version of the RoboCup Humanoid TC fork of GameController
+RUN git clone https://github.com/RoboCup-Humanoid-TC/GameController ./GameController 
+RUN ant -buildfile ./GameController/build.xml
+
+# Build the robocup controllers
+RUN git clone https://github.com/RoboCup-Humanoid-TC/hlvs_webots.git ./hlvs_webots
+RUN pip3 install -r ./hlvs_webots/controllers/referee/requirements.txt
+RUN make -j$(nproc) -C ./hlvs_webots
+
+# Set environment variables for GameController
+ENV GAME_CONTROLLER_HOME=./GameController JAVA_HOME=/usr/lib/jvm/java-11-openjdk-amd64
+
+# Install the NUbots-developed environment
+RUN git clone https://github.com/NUbots/NUWebots ./NUWebots
+RUN pip3 install -r ./NUWebots/requirements.txt
+RUN ./NUWebots/b configure -- -DENABLE_CLANG_TIDY=OFF
+RUN ./NUWebots/b build
+
+COPY entrypoint.sh ./entrypoint.sh
+COPY webots-config.py ./webots-config.py
+RUN chmod +x entrypoint.sh
+
+RUN chown -R webots:webots /home/webots
+USER webots
+ENV USER=webots
+
+# Configure robocup game.json file based on environment variables
+ENTRYPOINT ["./entrypoint.sh"]
+CMD ["bash", "-i"]

webots-docker/entrypoint.sh

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+#!/bin/bash
+
+python3 webots-config.py /home/webots/hlvs_webots/controllers/referee/game.json
+# Run the command given by CMD or docker run parameter, replacing current process
+exec "$@"

webots-docker/webots-config.py

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+import json
+import os
+import sys
+
+TEAM_NAME = os.environ.get("TEAM_NAME")
+ROBOT_HOSTS = os.environ.get("ROBOT_HOSTS")
+
+filename = sys.argv[1]
+
+with open(filename, "r") as f:
+    game_config = json.load(f)
+
+if TEAM_NAME:
+    game_config["red"]["config"] = "teams/" + TEAM_NAME + ".json"
+if ROBOT_HOSTS:
+    game_config["red"]["hosts"] += ROBOT_HOSTS.split(",")
+
+with open(filename, "w") as f:
+    json.dump(game_config, f, indent=2)