Dockerfile (Micropolis Robotics)

Supported features/libraries:

• Base image: nvidia/cuda:11.3.1-cudnn8-devel-ubuntu20.04
• CMake v3.24.2
• CUDA v11.3.1
• OpenCV v4.5.2
• VTK v8.2.0
• PCL v1.11
• ROS2 foxy (and Gazebo)
• NVIDIA-Accelerated
• SSH-Enabled
• External workspace mounted at (/home/$USERNAME/Docker/$CONTAINER_NAME_workspace)

Known issues:

• rviz2 is not working but this can be solved by running ROS2 accros multiple machines by setting up ROS_DOMAIN_ID & ROS_DISCOVERY_SERVER environment variables on your host PC

Requirements

The image is already built and pushed on our local server

• Install docker from official documentation
• Proceed to the Post-Installation steps for Linux
• Install NVIDIA Container Toolkit
• Configure local docker registry as follows
  1. Run

     $ sudo nano /etc/docker/daemon.json

  2. Edit the file daemon.json as below

     {
         "runtimes": {
             "nvidia": {
                 "path": "nvidia-container-runtime",
                 "runtimeArgs": []
             }
         },
         "insecure-registries" : ["X.X.X.X:5002"] <-- ADD THIS LINE (X.X.X.X = Server IP)
     }

     Then save and exit
  3. Restart Docker for the changes to take effects

     $ sudo systemctl daemon-reload
     $ sudo systemctl restart docker

• Configure ROS2 across multiple machines

  $ echo "export ROS_DISCOVERY_SERVER=X.X.X.X:11811" >> ~/.bashrc
  $ echo "export ROS_DOMAIN_ID=<your_domain_id>" >> ~/.bashrc

  Where:
  • X.X.X.X = Server IP
  • <your_domain_id> = 0-101 inclusive (ROS2 Documentation)

How to use

The image is already built and pushed on our local server

• To get the image locally on your host PC run:
  docker pull X.X.X.X:5002/upolis:latest
  Where: X.X.X.X = Server IP
• To run a container based on upolis image, use the file docker-launch.sh in this repository as follows

  $ git clone https://github.com/eslaaam3/upolis_docker/
  $ cd upolis_docker
  $ chmod +x docker-launch.sh
  $ # ./docker-launch.sh <container_name> <image_name>
  $ ./docker-launch.sh <container_name> X.X.X.X:5002/upolis:latest

• Once you're inside the container, there's a directory on your host PC mounted to the container where you can share files between host PC and container

               H O S T   P C          :  CONTAINER
  ~/Docker/<container_name>_workspace : ~/workspace

• Super user password inside the container is upolis, and it can be changed using chpasswd command, but generally, there is no need to change it