dockwater

Tools to simplify creation and use of Docker containers for development and production.

See wiki for detailed use instructions.

This project includes the following:

1. Project-specific development container Dockerfiles, many of wich use ROS and Gazebo.
2. Bash scripts to build images and run/join containers for interactive development environment - a thin wrapper for rocker functions.
3. Documentation on common use-cases for developing inside of docker containers.

Base Development Environments

The main branch of the repository supports baseline images for with ROS and Gazebo:

• Humble (Ubuntu 22.04 Jammy Jellyfish / ROS 2 Humble Hawksbill / Gazebo Garden)
• Galactic (Ubuntu 20.04 Focal Fossa / ROS 2 Galactic Geochelone / Ignition Fortress)
• Noetic (Ubuntu 20.04 Focal Fossa / ROS Noetic Ninjemys / Gazebo 11)
• Melodic (Ubuntu 18.04 Bionic Beaver / ROS Melodic Morenia / Gazebo 9)
• Kinetic (Ubuntu 18.04 Xenial Xerus / ROS Kinetic Kame / Gazebo 7)

Project-Specific Environments

Extending the base development environments is done by adding a branch to the repository, typically with the PROJECT-dev naming convention. For example, the gfoe-dev branch is for a project that uses LCM, addition to the base environment.

Dockerhub

The latest images corresponding to each of the three distributions above are stored in the npslearninglab/watery_robots repository on Dockerhub.

Build Instructions

Build the base image with the build.bash script.

DIST=(noetic | melodic | kinetic)
./build.bash ${DIST}

Run the image locally using the run.bash script:

./run.bash ${DIST}:latest

Build for CI

To build an image for use in continuous integration pipelines, we need to use a slightly different rocker command from the one that's called in the run.bash script. The reason is to avoid pulling in local user information or mounting the local home directory.

rocker --dev-helpers --nvidia --user --user-override-name=developer ${image_name}

Note: The --user-override-name option is currently only available in the latest build (following the rocker Development installation instructions).

Tag and push

The image resulting from the rocker command will be unnamed. To push to a repository, look up the ID with docker image ls and apply the appropriate tag:

docker tag <ID> <repository_namespace>/<repository>:<tag>
docker push <repository_namespace>/<repository>:<tag>