Update Dockerfile and dependencies, add installation guide

- Switched base image in `Dockerfile` to `nvidia/cuda:12.6.2-cudnn-devel-ubuntu22.04`.
- Added non-interactive mode for Debian and streamlined package installation.
- Removed unused JSON library build steps.
- Enhanced ROS2 installation with keyring and repository setup.
- Simplified Python package and framework dependencies installation.
- Added commands for `git-lfs` installation and cloning `rbs_assets_library`.
- Introduced a new Russian installation guide (`doc/ru/installation.md`) with detailed steps for setting up the framework and dependencies.
- Fixed import paths in `octree.py` for consistency with project structure.
- Added `all-deps.repos` and `requirements.txt` for managing dependencies.

Dockerfile

@@ -1,46 +1,65 @@
-FROM billf1nger/ros2-humble-cuda:v12.2.2-cudnn8-ubuntu22.04-gz-nvidia
-
+FROM nvidia/cuda:12.6.2-cudnn-devel-ubuntu22.04
 ARG WSDIR=rbs_ws
-ARG config_type=sim
 
 ENV RBS_ASSEMBLY_DIR=/assembly
+ENV DEBIAN_FRONTEND=noninteractive
 
 # COPY /home/bill-finger/assembly /assembly
 ENV IGN_GAZEBO_RESOURCE_PATH=/${WSDIR}/install/rbs_simulation/share/rbs_simulation/
 
-RUN apt update && apt install -y \ 
+RUN apt-get update && apt-get upgrade -y && apt-get install -y \ 
     git \
+    software-properties-common \
     python3-pip \ 
     lsb-release \
-    wget \
-    gnupg
+    curl \
+    wget
 
-RUN pip install vcstool
 
-WORKDIR /libs
-RUN wget https://github.com/nlohmann/json/archive/refs/tags/v3.11.3.tar.gz &&\
-    tar -xf v3.11.3.tar.gz &&\
-    cd json-3.11.3 &&\
-    mkdir build &&\
-    cd build &&\
-    cmake .. &&\
-    make &&\
-    make install
+# WORKDIR /libs
+# RUN wget https://github.com/nlohmann/json/archive/refs/tags/v3.11.3.tar.gz &&\
+#     tar -xf v3.11.3.tar.gz &&\
+#     cd json-3.11.3 &&\
+#     mkdir build &&\
+#     cd build &&\
+#     cmake .. &&\
+#     make &&\
+#     make install
 
-RUN git clone https://gitlab.com/robossembler/forks/megapose6d.git &&\
-    cd megapose6d &&\
-    pip install bokeh joblib pin torch transforms3d webdataset omegaconf tqdm &&\
-    pip install -e .
-RUN git clone https://github.com/thodan/bop_toolkit &&\
-    cd bop_toolkit &&\
-    pip install -e .
+RUN add-apt-repository universe
+RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
+
+
+RUN apt-get update && apt-get upgrade && apt-get install -y ros-humble-ros-base
+
+# RUN git clone https://gitlab.com/robossembler/forks/megapose6d.git &&\
+#     cd megapose6d &&\
+#     pip install bokeh joblib pin torch transforms3d webdataset omegaconf tqdm &&\
+#     pip install -e .
+# RUN git clone https://github.com/thodan/bop_toolkit &&\
+#     cd bop_toolkit &&\
+#     pip install -e .
 
 WORKDIR /${WSDIR}
 
 COPY . src/robossembler-ros2/
 
-RUN vcs import src/. < src/robossembler-ros2/rbs.${config_type}.repos
-RUN apt update && rosdep update && \
+RUN pip install vcstool uv
+
+# Install framework and dependencies
+RUN vcs import src/. < src/robossembler-ros2/repos/all-deps.repos
+RUN uv pip install --system -r src/robossembler-ros2/repos/requirements.txt
+RUN apt-get update && rosdep update && \
     rosdep install -y -r -q --from-paths src --ignore-src --rosdistro humble
 RUN . /opt/ros/humble/setup.sh && \
     colcon build --symlink-install --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=1
+
+
+WORKDIR /${RBS_ASSEMBLY_DIR}
+RUN curl -s https://packagecloud.io/install/repositories/github/git-lfs/script.deb.sh | bash
+RUN apt-get install git-lfs
+RUN git clone https://github.com/solid-sinusoid/rbs_assets_library.git 
+RUN cd rbs_assets_library && git lfs pull && pip install -e .
+
+WORKDIR /${WSDIR}