reorganize docker files

Author: Hector Azpurua

README.md

@@ -8,52 +8,56 @@ A  `development container` (or dev container for short) allows you to use a cont
 <summary> Details of the services in this container </summary>
 
 - ROS1 noetic with a base workspace `/home/ubuntu/ros_ws/`;
+- Support for arm64 (jetson orin nano) and amd64 architectures;
+- Support for NVIDIA Docker runtime for linux hosts;
 - VNC server that allows direct browser access (http://localhost:3080/), so nothing is required to install and use it;
-- A `ssh` server, to allow direct access from outside (`ssh ubuntu@localhost -p 3022`)
-- A web `vscode` server for easy remote access when deploying it on the robot (http://localhost:3081/)
-- Automatic `xcode +` command executed on each attachment for local X forwarding
+- A `ssh` server, to allow direct access from outside (`ssh ubuntu@localhost -p 3022`);
+- A web `vscode` server for easy remote access when deploying it on the robot (http://localhost:3081/);
+- Automatic `xcode +` command executed on each attachment for local X forwarding;
 - Custom environment and VScode configurations:
-  - Open split terminals on launch
-  - Setup all environments variables automatically for running ROS
-  - Automatically open the VNC interface in a ROS tab
-  - Custom .vscode tasks to deploy roscore/rviz
-  - Custom PS1 (terminal shell)
+  - Open split terminals on launch;
+  - Setup all environments variables automatically for running ROS;
+  - Automatically open the VNC interface in a ROS tab;
+  - Custom .vscode tasks to deploy roscore/rviz;
+  - Custom PS1 (terminal shell);
 </details>
 
-## Quick usage
-
-- VNC: http://localhost:3080
-- VScode: http://localhost:3081
-- SSH: `ssh ubuntu@localhost -p 3022`
-  - user: `ubuntu`
-  - pass: `ubuntu`
-
-<figure>
-  <img src="https://github.com/user-attachments/assets/6c085018-0b43-4f0e-9316-20bac5d0d4c1" alt="Fully loaded interface with the VNC client and multiple terminals on the bottom panel" style="width:100%">
-  <figcaption>Fully loaded interface with the VNC client and multiple terminals on the bottom panel.</figcaption>
-</figure>
+## Devcontainers installation
 
-## Installation
+- Open folder with VScode using the dev containers plugin (https://marketplace.visualstudio.com/items?itemName=ms-vscode-remote.remote-containers)
 
-Open folder with VScode using the dev containers plugin (https://marketplace.visualstudio.com/items?itemName=ms-vscode-remote.remote-containers)
+## Quick usage
 
-## Build directy with 'docker compose'
+### Start devcontainer on VScode or use `docker compose`
 
-When the host is a linux-based machine:
+- When the host is a linux-based machine:
 ```
 BUILDKIT_PROGRESS=plain docker compose -f compose_linux_host.yaml up --build
 ```
 
-When the host is a macos-based machine:
+- When the host is a macos-based machine:
 ```
 BUILDKIT_PROGRESS=plain docker compose -f compose_macos_host.yaml up --build
 ```
 
 `BUILDKIT_PROGRESS=plain` helps to visualize step by step output of each of the commands.
 
+### Usage
+
+- VNC: http://localhost:3080
+- VScode: http://localhost:3081
+- SSH: `ssh ubuntu@localhost -p 3022`
+  - user: `ubuntu`
+  - pass: `ubuntu`
+
+<figure>
+  <img src="https://github.com/user-attachments/assets/6c085018-0b43-4f0e-9316-20bac5d0d4c1" alt="Fully loaded interface with the VNC client and multiple terminals on the bottom panel" style="width:50%">
+  <figcaption>Fully loaded interface with the VNC client and multiple terminals on the bottom panel.</figcaption>
+</figure>
+
 ## Know issues
 
-- The website preview does open a terminal with a extrange cannot find shell for command XXXX.
+- The live preview opens a terminal with a message "cannot find shell for command XXXX". This can be safely ignored.
 - The live preview will show a small box with a message "Please reopen the preview". This is fixed in the newest version of the live preview plugin.
 
 ## Links/References:

compose_linux_host.yaml

@@ -3,7 +3,7 @@ services:
     container_name: ros1_noetic_devel
     build:
       context: .
-      dockerfile: Dockerfile.amd64
+      dockerfile: docker/Dockerfile.amd64
     ipc: host
     pid: host
     privileged: true

compose_macos_host.yaml

@@ -3,7 +3,7 @@ services:
     container_name: ros1_noetic_devel
     build:
       context: .
-      dockerfile: Dockerfile.amd64
+      dockerfile: docker/Dockerfile.amd64
     ipc: host
     pid: host
     privileged: true