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Dimos uses parallel Docker image hierarchies for ROS and non-ROS builds, allowing you to choose the environment that fits your use case.

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Image Hierarchy

output

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Images

All images are published to ghcr.io/dimensionalos/.
ImageBasePurpose
pythonubuntu:22.04Core dimos with Python dependencies, no ROS
devpythonDevelopment environment (editors, git, pre-commit)
rosubuntu:22.04ROS2 Humble with navigation packages
ros-pythonrosROS + dimos Python dependencies
ros-devros-pythonFull ROS development environment

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Tags

Images are tagged based on the git branch:
BranchTag
mainlatest
devdev
feature branchessanitized branch name (e.g., feature_foo_bar)

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When to Use Each Image

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Non-ROS Track (python → dev)

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docker run -it ghcr.io/dimensionalos/dev:latest bash

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ROS Track (ros → ros-python → ros-dev)

Use when you need ROS2 integration:
  • Robot hardware control via ROS topics
  • Navigation stack integration
  • ROS message passing between components
  • Running ROS tests (pytest -m ros)
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docker run -it ghcr.io/dimensionalos/ros-dev:latest bash

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Local Development

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Building Images Locally

Use the helper script:
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./bin/dockerbuild python    # Build python image
./bin/dockerbuild dev       # Build dev image
./bin/dockerbuild ros       # Build ros image

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CI/CD Pipeline

Images are built by .github/workflows/docker-build.yml on merges to main/dev (when Docker files change) and weekly for base image security patches. Tests and type checking run in .github/workflows/ci.yml using pre-built images.

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Build Trigger Paths

ImageTriggers on changes to
rosdocker/ros/**, workflow files
pythondocker/python/**, workflow files
devdocker/dev/**

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Dockerfile Structure

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Common Patterns

All Dockerfiles accept a FROM_IMAGE build arg for flexibility:
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ARG FROM_IMAGE=ubuntu:22.04
FROM ${FROM_IMAGE}
This allows the same Dockerfile (e.g., python) to build on different bases.

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Python Package Installation

Images use uv for fast dependency installation:
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ENV UV_SYSTEM_PYTHON=1
RUN curl -LsSf https://astral.sh/uv/install.sh | sh
RUN uv pip install '.[misc,cpu,sim,drone,unitree,web,perception,visualization]'

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Dev Image Features

The dev image (docker/dev/Dockerfile) adds:
  • Git, git-lfs, pre-commit
  • Editors (nano, vim)
  • tmux with custom config
  • Node.js (via nvm)
  • Custom bash prompt with version info
  • Entrypoint script that sources ROS setup