Change Dockerfile and add build and run scripts (fix issue space-ros#36)

lunar_pole_exploration_rover/README.md

@@ -48,60 +48,48 @@ This package and associated plugins and models were developped by [Robin Baran](
 
 ## Running the demo <a name="running_demo"></a>
 ### Building the docker <a name="building_docker"></a>
-To build the docker image, go to your ROS2 workspace. Make a spaceros workspace if you don't already have one:
-```bash
-mkdir -p ~spaceros_ws/src
-cd ~spaceros_ws
-```
+To build the docker image, go to the docker folder and run:
 
-Clone the demos and simulation repos. Checkout both repos to the feature branch `feat/lunar_pole_exploration_rover`:
 ```bash
-cd ~spaceros_ws
-git clone [email protected]:RBinsonB/demos.git
-git checkout feat/lunar_pole_exploration_rover
-cd ~spaceros_ws
-git clone [email protected]:RBinsonB/simulation.git
-git checkout feat/lunar_pole_exploration_rover
+cd docker
+./build.sh
 ```
 
-Build the image:
-```bash
-cd ~spaceros_ws
-docker build -f demos/lunar_pole_exploration_rover/docker/Dockerfile -t lunar_rover_image .
-```
+The build process will take about 30 minutes, depending on the host computer.
+
 
 ### Running the docker <a name="running_docker"></a>
-Run the following command before running the container:
+After building the image, you can see the newly-built image by running:
+
 ```bash
-xhost +local:docker
+docker image list
 ```
 
-Run the container by typing:
+The output will look something like this:
+
+```
+REPOSITORY              TAG                        IMAGE ID       CREATED        SIZE
+openrobotics/moveit2    latest                     6edb2edc9643   10 hours ago   15.5GB
+openrobotics/lunar_pole_exploration_rover_demo   latest                     629b13cf7b74   12 hours ago   7.8GB
+nvidia/cudagl           11.4.1-devel-ubuntu20.04   336416dfcbba   1 week ago     5.35GB
+```
+
+The new image is named **openrobotics/lunar_pole_exploration_rover_demo:latest**.
+
+There is a run.sh script provided for convenience that will run the spaceros image in a container.
+
 ```bash
-docker run --rm -it --name lunar_pole_exploration_rover \
---network host \
--e DISPLAY \
--e TERM \
--e QT_X11_NO_MITSHM=1 \
-lunar_rover_image
+./run.sh
 ```
 
-If you have gpu
+To enable hardware acceleration, use run_gpu.sh (requires a docker install not from snap)*
+
 ```bash
-docker run --rm -it --name lunar_pole_exploration_rover \
---network host \
---privileged \
---gpus all \
--e NVIDIA_VISIBLE_DEVICES=all \
--e NVIDIA_DRIVER_CAPABILITIES=graphics \
--e DISPLAY=$DISPLAY \
--e TERM \
--e QT_X11_NO_MITSHM=1 \
--e XAUTHORITY=$XAUTHORITY \
---mount type=bind,source=/tmp/.X11-unix,target=/tmp/.X11-unix \
-lunar_rover_image
+./run_gpu.sh
 ```
 
+
+
 Once the container is running, launch the demo by typing the following command:
 ```bash
 ros2 launch lunar_pole_exploration_rover lunar_pole_exploration_rover.launch.py

lunar_pole_exploration_rover/docker/Dockerfile

@@ -19,7 +19,7 @@
 #   VCS_REF     - The git revision of the Space ROS source code (no default value).
 #   VERSION     - The version of Space ROS (default: "preview")
 
-FROM openrobotics/moveit2:latest
+FROM osrf/space-ros:latest
 
 # Define arguments used in the metadata definition
 ARG VCS_REF
@@ -43,17 +43,76 @@ ENV GZ_VERSION=fortress
 # Disable prompting during package installation
 ARG DEBIAN_FRONTEND=noninteractive
 
+
 # Get rosinstall_generator
 # Using Docker BuildKit cache mounts for /var/cache/apt and /var/lib/apt ensures that
 # the cache won't make it into the built image but will be maintained between steps.
 RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
   --mount=type=cache,target=/var/lib/apt,sharing=locked \
   sudo apt-get update -y && sudo apt-get install -y python3-rosinstall-generator
 
+# Disable prompting during package installation
+ARG DEBIAN_FRONTEND=noninteractive
+
+# # Clone all space-ros sources
+# RUN mkdir ${SPACEROS_DIR}/src \
+#   && vcs import ${SPACEROS_DIR}/src < ${SPACEROS_DIR}/exact.repos
+
+# Make sure the latest versions of packages are installed
+# Using Docker BuildKit cache mounts for /var/cache/apt and /var/lib/apt ensures that
+# the cache won't make it into the built image but will be maintained between steps.
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt-get update
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt-get dist-upgrade -y
+RUN rosdep update
+
+# Install the various build and test tools
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt install -y \
+  build-essential \
+  clang-format \
+  cmake \
+  git \
+  libbullet-dev \
+  python3-colcon-common-extensions \
+  python3-flake8 \
+  python3-pip \
+  python3-pytest-cov \
+  python3-rosdep \
+  python3-setuptools \
+  python3-vcstool \
+  wget
+
+# Install some pip packages needed for testing
+RUN python3 -m pip install -U \
+  argcomplete \
+  flake8-blind-except \
+  flake8-builtins \
+  flake8-class-newline \
+  flake8-comprehensions \
+  flake8-deprecated \
+  flake8-docstrings \
+  flake8-import-order \
+  flake8-quotes \
+  pytest-repeat \
+  pytest-rerunfailures \
+  pytest
 
 RUN mkdir -p ${DEMO_DIR}/src
 WORKDIR ${DEMO_DIR}
 
+# Update the ownership of the source files (had to use sudo above to work around
+# a possible inherited 'insteadof' from the host that forces use of ssh
+RUN sudo chown -R ${USERNAME}:${USERNAME} ${DEMO_DIR}
+
+# Get rosinstall_generator
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt-get update -y && sudo apt-get install -y python3-rosinstall-generator
 
 # Install libmongoc for development
 RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
@@ -70,28 +129,34 @@ RUN cd mongo-cxx-driver-r3.6.7/build && cmake .. -DCMAKE_BUILD_TYPE=Release -DCM
 
 # Get the source for the dependencies
 # RUN vcs import src < /tmp/demo_generated_pkgs.repos
-COPY --chown=${USERNAME}:${USERNAME} demos/lunar_pole_exploration_rover/docker/demo_manual_pkgs.repos /tmp/
+COPY --chown=${USERNAME}:${USERNAME} ./demo_manual_pkgs.repos /tmp/
 RUN vcs import src < /tmp/demo_manual_pkgs.repos && /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' 
 
-# Copy the "demos" and "simulation" repos into the workspace
-COPY demos ./src/demos
-COPY simulation ./src/simulation
-
 RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
   --mount=type=cache,target=/var/lib/apt,sharing=locked \
   sudo apt-get update -y \
 && /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' \
-&& /bin/bash -c 'source "${MOVEIT2_DIR}/install/setup.bash"' \
 && rosdep install --from-paths src --ignore-src -r -y --rosdistro ${ROSDISTRO}
 
 # Build the demo
-RUN /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash && source ${MOVEIT2_DIR}/install/setup.bash \
+RUN /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash \
   && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release'
 
 # Add the user to the render group so that the user can access /dev/dri/renderD128
 RUN sudo usermod -aG render $USERNAME
 
+# Add a couple sample GUI apps for testing
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+  --mount=type=cache,target=/var/lib/apt,sharing=locked \
+  sudo apt-get install -y \
+  firefox \
+  glmark2 \
+  libcanberra-gtk3-0 \
+  libpci-dev \
+  xauth \
+  xterm
+
 # Setup the entrypoint
-COPY demos/lunar_pole_exploration_rover/docker/entrypoint.sh /
+COPY ./entrypoint.sh /
 ENTRYPOINT ["/entrypoint.sh"]
 CMD ["bash"]

lunar_pole_exploration_rover/docker/build.sh

@@ -0,0 +1,23 @@
+#!/usr/bin/env bash
+
+ORG=openrobotics
+IMAGE=lunar_pole_exploration_rover_demo
+TAG=latest
+
+VCS_REF=""
+VERSION=preview
+
+# Exit script with failure if build fails
+set -eo pipefail
+
+echo ""
+echo "##### Building Space ROS Demo Docker Image #####"
+echo ""
+
+docker build -t $IMAGE:$TAG \
+    --build-arg VCS_REF="$VCS_REF" \
+    --build-arg VERSION="$VERSION" .
+
+echo ""
+echo "##### Done! #####"
+

lunar_pole_exploration_rover/docker/demo_manual_pkgs.repos

@@ -3,6 +3,14 @@ repositories:
     type: git
     url: https://github.com/ros-controls/gz_ros2_control.git
     version: humble
+  demos:
+    type: git
+    url: https://github.com/RBinsonB/demos.git
+    version: feat/lunar_pole_exploration_rover
+  simulation:
+    type: git
+    url: https://github.com/RBinsonB/simulation.git
+    version: feat/lunar_pole_exploration_rover
   qt_gui_core:
     type: git
     url: https://github.com/ros-visualization/qt_gui_core.git

lunar_pole_exploration_rover/docker/run.sh

@@ -0,0 +1,16 @@
+#!/usr/bin/env bash
+
+# Runs a docker container with the image created by build.bash
+# Requires:
+#   docker
+#   an X server
+
+IMG_NAME=openrobotics/lunar_pole_exploration_rover_demo
+
+# Replace `/` with `_` to comply with docker container naming
+# And append `_runtime`
+CONTAINER_NAME="$(tr '/' '_' <<< "$IMG_NAME")"
+
+# Start the container
+docker run --rm -it --name $CONTAINER_NAME  --network host \
+    -e DISPLAY -e TERM   -e QT_X11_NO_MITSHM=1 $IMG_NAME

lunar_pole_exploration_rover/docker/run_gpu.sh

@@ -0,0 +1,28 @@
+#!/usr/bin/env bash
+
+# Runs a docker container with the image created by build.bash
+# Requires:
+#   docker
+#   an X server
+
+IMG_NAME=openrobotics/lunar_pole_exploration_rover_demo
+
+xhost +local:docker
+
+# Replace `/` with `_` to comply with docker container naming
+# And append `_runtime`
+CONTAINER_NAME="$(tr '/' '_' <<< "$IMG_NAME")"
+
+# Start the container
+docker run --rm -it --name $CONTAINER_NAME \
+    --network host \
+    --privileged \
+    --gpus all \
+    -e NVIDIA_VISIBLE_DEVICES=all \
+    -e NVIDIA_DRIVER_CAPABILITIES=graphics \
+    -e DISPLAY=$DISPLAY \
+    -e TERM \
+    -e QT_X11_NO_MITSHM=1 \
+    -e XAUTHORITY=$XAUTHORITY \
+    --mount type=bind,source=/tmp/.X11-unix,target=/tmp/.X11-unix \
+    $IMG_NAME