From eb3a999c35be91efa135c408c7980a9453e9ebd4 Mon Sep 17 00:00:00 2001
From: Mabel Zhang <mabel@openrobotics.org>
Date: Thu, 9 Mar 2023 15:13:02 -0500
Subject: [PATCH 01/12] add non-rocker Dockerfile

Signed-off-by: Mabel Zhang <mabel@openrobotics.org>
---
 docker/buoy_dockerhub/build.bash              |  47 ++++++++
 .../buoy_dockerhub/buoy_dockerhub/Dockerfile  |  64 +++++++++++
 docker/{ => buoy_dockerhub}/join.bash         |   0
 docker/buoy_dockerhub/run.bash                | 100 ++++++++++++++++++
 docker/buoy_dockerhub/run_no_nvidia.bash      |  97 +++++++++++++++++
 docker/{ => buoy_rocker}/build.bash           |   0
 .../buoy_rocker}/Dockerfile                   |   0
 docker/buoy_rocker/join.bash                  |  26 +++++
 docker/{ => buoy_rocker}/run.bash             |   0
 9 files changed, 334 insertions(+)
 create mode 100755 docker/buoy_dockerhub/build.bash
 create mode 100644 docker/buoy_dockerhub/buoy_dockerhub/Dockerfile
 rename docker/{ => buoy_dockerhub}/join.bash (100%)
 create mode 100755 docker/buoy_dockerhub/run.bash
 create mode 100755 docker/buoy_dockerhub/run_no_nvidia.bash
 rename docker/{ => buoy_rocker}/build.bash (100%)
 rename docker/{buoy => buoy_rocker/buoy_rocker}/Dockerfile (100%)
 create mode 100755 docker/buoy_rocker/join.bash
 rename docker/{ => buoy_rocker}/run.bash (100%)

diff --git a/docker/buoy_dockerhub/build.bash b/docker/buoy_dockerhub/build.bash
new file mode 100755
index 00000000..b0e06c3d
--- /dev/null
+++ b/docker/buoy_dockerhub/build.bash
@@ -0,0 +1,47 @@
+#!/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/$1 ]
+then
+  echo "image-name must be a directory in the same folder as this script"
+  exit 2
+fi
+
+user_id=$(id -u)
+image_name=$(basename $1)
+#image_plus_tag=$image_name:$(export LC_ALL=C; date +%Y_%m_%d_%H%M)
+image_plus_tag=$image_name:latest
+
+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"
+echo "To run:"
+echo "./run.bash [-d|s] $image_name:latest"
diff --git a/docker/buoy_dockerhub/buoy_dockerhub/Dockerfile b/docker/buoy_dockerhub/buoy_dockerhub/Dockerfile
new file mode 100644
index 00000000..17b06043
--- /dev/null
+++ b/docker/buoy_dockerhub/buoy_dockerhub/Dockerfile
@@ -0,0 +1,64 @@
+FROM ros:humble-ros-base
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Necessary tools
+RUN apt update \
+ && apt install -y \
+        apt-utils \
+        vim \
+        wget
+
+# Garden only has nightlies for now
+RUN /bin/sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list' \
+ && /bin/sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-nightly `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-nightly.list' \
+ && /bin/sh -c 'wget http://packages.osrfoundation.org/gazebo.key -O - | apt-key add -' \
+ && apt update \
+ && apt install -y \
+        ros-humble-rmw-cyclonedds-cpp \
+        gz-garden \
+ && apt clean
+
+# For timing in tests, need to use cyclonedds for ROS 2 rather than default
+# rmw provider
+ENV RMW_IMPLEMENTATION rmw_cyclonedds_cpp
+# Using non-official Gazebo + ROS combination, set it explicitly
+ENV GZ_VERSION garden
+
+# 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 $USERNAME
+
+# When running a container start in the developer's home folder
+WORKDIR /home/$USERNAME
+
+# Create project directory and import packages
+ENV BUOY_WS /home/$USERNAME/buoy_ws
+RUN mkdir -p ${BUOY_WS}/src \
+ && cd ${BUOY_WS}/src/ \
+ && wget https://raw.githubusercontent.com/osrf/buoy_entrypoint/main/buoy_all.yaml \
+ && vcs import < buoy_all.yaml
+
+# Install rosdep dependencies
+RUN sudo apt update \
+ && cd ${BUOY_WS} \
+ && rosdep update \
+ && rosdep install --from-paths src --ignore-src -r -y -i \
+ && sudo rm -rf /var/lib/apt/lists/* \
+ && sudo apt clean
+
+# Build the project
+RUN /bin/bash -c 'source /opt/ros/${ROS_DISTRO}/setup.bash \
+  && cd ${BUOY_WS} \
+  && colcon build'
+
+# TODO: Add a run script under home/$USERNAME/run_simulation.sh to execute ros2 launch
+
+ENTRYPOINT ["/bin/bash" , "-c" , "source ${BUOY_WS}/install/setup.bash && /bin/bash"]
diff --git a/docker/join.bash b/docker/buoy_dockerhub/join.bash
similarity index 100%
rename from docker/join.bash
rename to docker/buoy_dockerhub/join.bash
diff --git a/docker/buoy_dockerhub/run.bash b/docker/buoy_dockerhub/run.bash
new file mode 100755
index 00000000..c1bcf0e1
--- /dev/null
+++ b/docker/buoy_dockerhub/run.bash
@@ -0,0 +1,100 @@
+#!/usr/bin/env bash
+
+#
+# Copyright (C) 2023 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
+# Optional:
+#   A joystick mounted to /dev/input/js0 or /dev/input/js1
+
+if [ $# -lt 1 ]
+then
+    echo "Usage: $0 <docker image> [<dir with workspace> ...]"
+    exit 1
+fi
+
+IMG=$(basename $1)
+
+ARGS=("$@")
+WORKSPACES=("${ARGS[@]:1}")
+
+# Make sure processes in the container can connect to the x server
+# Necessary so gazebo can create a context for OpenGL rendering (even headless)
+XAUTH=/tmp/.docker.xauth
+if [ ! -f $XAUTH ]
+then
+    xauth_list=$(xauth nlist $DISPLAY | sed -e 's/^..../ffff/')
+    if [ ! -z "$xauth_list" ]
+    then
+        echo $xauth_list | xauth -f $XAUTH nmerge -
+    else
+        touch $XAUTH
+    fi
+    chmod a+r $XAUTH
+fi
+
+DOCKER_OPTS=
+
+# Share your vim settings.
+VIMRC=~/.vimrc
+if [ -f $VIMRC ]
+then
+  DOCKER_OPTS="$DOCKER_OPTS -v $VIMRC:/home/developer/.vimrc:ro"
+fi
+
+# Mabel: Share your custom terminal setup commands
+GITCONFIG=~/.gitconfig
+DOCKER_OPTS="$DOCKER_OPTS -v $GITCONFIG:/home/developer/.gitconfig:ro"
+
+for WS_DIR in ${WORKSPACES[@]}
+do
+  WS_DIRNAME=$(basename $WS_DIR)
+  if [ ! -d $WS_DIR/src ]
+  then
+    echo "Other! $WS_DIR"
+    DOCKER_OPTS="$DOCKER_OPTS -v $WS_DIR:/home/developer/other/$WS_DIRNAME"
+  else
+    echo "Workspace! $WS_DIR"
+    DOCKER_OPTS="$DOCKER_OPTS -v $WS_DIR:/home/developer/workspaces/$WS_DIRNAME"
+  fi
+done
+
+# Mount extra volumes if needed.
+# E.g.:
+# -v "/opt/sublime_text:/opt/sublime_text" \
+
+# --ipc=host and --network=host are needed for no-NVIDIA Dockerfile to work
+docker run -it \
+  -e DISPLAY \
+  -e QT_X11_NO_MITSHM=1 \
+  -e XAUTHORITY=$XAUTH \
+  -v "$XAUTH:$XAUTH" \
+  -v "/tmp/.X11-unix:/tmp/.X11-unix" \
+  -v "/etc/localtime:/etc/localtime:ro" \
+  -v "/dev/input:/dev/input" \
+  --privileged \
+  --rm \
+  --runtime=nvidia \
+  --security-opt seccomp=unconfined \
+  --ipc=host \
+  --network=host \
+  $DOCKER_OPTS \
+  $IMG
diff --git a/docker/buoy_dockerhub/run_no_nvidia.bash b/docker/buoy_dockerhub/run_no_nvidia.bash
new file mode 100755
index 00000000..e283217d
--- /dev/null
+++ b/docker/buoy_dockerhub/run_no_nvidia.bash
@@ -0,0 +1,97 @@
+#!/usr/bin/env bash
+
+#
+# Copyright (C) 2023 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
+#   an X server
+# Optional:
+#   A joystick mounted to /dev/input/js0 or /dev/input/js1
+
+if [ $# -lt 1 ]
+then
+    echo "Usage: $0 <docker image> [<dir with workspace> ...]"
+    exit 1
+fi
+
+IMG=$(basename $1)
+
+ARGS=("$@")
+WORKSPACES=("${ARGS[@]:1}")
+
+# Make sure processes in the container can connect to the x server
+# Necessary so gazebo can create a context for OpenGL rendering (even headless)
+XAUTH=/tmp/.docker.xauth
+if [ ! -f $XAUTH ]
+then
+    xauth_list=$(xauth nlist :0 | sed -e 's/^..../ffff/')
+    if [ ! -z "$xauth_list" ]
+    then
+        echo $xauth_list | xauth -f $XAUTH nmerge -
+    else
+        touch $XAUTH
+    fi
+    chmod a+r $XAUTH
+fi
+
+DOCKER_OPTS=
+
+# Share your vim settings.
+VIMRC=~/.vimrc
+if [ -f $VIMRC ]
+then
+  DOCKER_OPTS="$DOCKER_OPTS -v $VIMRC:/home/developer/.vimrc:ro"
+fi
+
+# Mabel: Share your custom terminal setup commands
+GITCONFIG=~/.gitconfig
+DOCKER_OPTS="$DOCKER_OPTS -v $GITCONFIG:/home/developer/.gitconfig:ro"
+
+for WS_DIR in ${WORKSPACES[@]}
+do
+  WS_DIRNAME=$(basename $WS_DIR)
+  if [ ! -d $WS_DIR/src ]
+  then
+    echo "Other! $WS_DIR"
+    DOCKER_OPTS="$DOCKER_OPTS -v $WS_DIR:/home/developer/other/$WS_DIRNAME"
+  else
+    echo "Workspace! $WS_DIR"
+    DOCKER_OPTS="$DOCKER_OPTS -v $WS_DIR:/home/developer/workspaces/$WS_DIRNAME"
+  fi
+done
+
+# Mount extra volumes if needed.
+# E.g.:
+# -v "/opt/sublime_text:/opt/sublime_text" \
+
+docker run -it \
+  -e DISPLAY \
+  -v "/tmp/.X11-unix:/tmp/.X11-unix" \
+  -v "/etc/localtime:/etc/localtime:ro" \
+  -v "/dev/input:/dev/input" \
+  --rm \
+  --security-opt seccomp=unconfined \
+  --ipc=host \
+  --network=host \
+  $DOCKER_OPTS \
+  $IMG
+  #--privileged \
+  #-e QT_X11_NO_MITSHM=1 \
+  #-e XAUTHORITY=$XAUTH \
+  #-v "$XAUTH:$XAUTH" \
diff --git a/docker/build.bash b/docker/buoy_rocker/build.bash
similarity index 100%
rename from docker/build.bash
rename to docker/buoy_rocker/build.bash
diff --git a/docker/buoy/Dockerfile b/docker/buoy_rocker/buoy_rocker/Dockerfile
similarity index 100%
rename from docker/buoy/Dockerfile
rename to docker/buoy_rocker/buoy_rocker/Dockerfile
diff --git a/docker/buoy_rocker/join.bash b/docker/buoy_rocker/join.bash
new file mode 100755
index 00000000..42322593
--- /dev/null
+++ b/docker/buoy_rocker/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 -
diff --git a/docker/run.bash b/docker/buoy_rocker/run.bash
similarity index 100%
rename from docker/run.bash
rename to docker/buoy_rocker/run.bash

From ffe45804f590540962347b069e8e666a2592249d Mon Sep 17 00:00:00 2001
From: Mabel Zhang <mabel@openrobotics.org>
Date: Thu, 9 Mar 2023 18:31:22 -0500
Subject: [PATCH 02/12] modify existing Dockerfile instead of creating another

Signed-off-by: Mabel Zhang <mabel@openrobotics.org>
---
 docker/{buoy_rocker => }/build.bash           |  0
 .../buoy_dockerhub => buoy}/Dockerfile        |  0
 docker/buoy_dockerhub/build.bash              | 47 -------------------
 docker/buoy_rocker/buoy_rocker/Dockerfile     | 45 ------------------
 docker/buoy_rocker/join.bash                  | 26 ----------
 docker/{buoy_dockerhub => }/join.bash         |  0
 docker/{buoy_dockerhub => }/run.bash          |  0
 .../{buoy_dockerhub => }/run_no_nvidia.bash   |  0
 .../{buoy_rocker/run.bash => run_rocker.bash} |  0
 9 files changed, 118 deletions(-)
 rename docker/{buoy_rocker => }/build.bash (100%)
 rename docker/{buoy_dockerhub/buoy_dockerhub => buoy}/Dockerfile (100%)
 delete mode 100755 docker/buoy_dockerhub/build.bash
 delete mode 100644 docker/buoy_rocker/buoy_rocker/Dockerfile
 delete mode 100755 docker/buoy_rocker/join.bash
 rename docker/{buoy_dockerhub => }/join.bash (100%)
 rename docker/{buoy_dockerhub => }/run.bash (100%)
 rename docker/{buoy_dockerhub => }/run_no_nvidia.bash (100%)
 rename docker/{buoy_rocker/run.bash => run_rocker.bash} (100%)

diff --git a/docker/buoy_rocker/build.bash b/docker/build.bash
similarity index 100%
rename from docker/buoy_rocker/build.bash
rename to docker/build.bash
diff --git a/docker/buoy_dockerhub/buoy_dockerhub/Dockerfile b/docker/buoy/Dockerfile
similarity index 100%
rename from docker/buoy_dockerhub/buoy_dockerhub/Dockerfile
rename to docker/buoy/Dockerfile
diff --git a/docker/buoy_dockerhub/build.bash b/docker/buoy_dockerhub/build.bash
deleted file mode 100755
index b0e06c3d..00000000
--- a/docker/buoy_dockerhub/build.bash
+++ /dev/null
@@ -1,47 +0,0 @@
-#!/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/$1 ]
-then
-  echo "image-name must be a directory in the same folder as this script"
-  exit 2
-fi
-
-user_id=$(id -u)
-image_name=$(basename $1)
-#image_plus_tag=$image_name:$(export LC_ALL=C; date +%Y_%m_%d_%H%M)
-image_plus_tag=$image_name:latest
-
-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"
-echo "To run:"
-echo "./run.bash [-d|s] $image_name:latest"
diff --git a/docker/buoy_rocker/buoy_rocker/Dockerfile b/docker/buoy_rocker/buoy_rocker/Dockerfile
deleted file mode 100644
index 43abcd22..00000000
--- a/docker/buoy_rocker/buoy_rocker/Dockerfile
+++ /dev/null
@@ -1,45 +0,0 @@
-FROM ros:humble-ros-base
-ENV DEBIAN_FRONTEND=noninteractive
-
-# Need to use cyclonedds rather than default rmw provider
-RUN apt update \
- && apt install -y \
-        ros-humble-rmw-cyclonedds-cpp
-ENV RMW_IMPLEMENTATION rmw_cyclonedds_cpp
-
-# Necessary tools
-RUN apt update \
- && apt install -y \
-        apt-utils \
-        wget
-
-# Using non-official Gazebo + ROS combination, set it explicitly
-ENV GZ_VERSION garden
-
-# Garden only has nightlies for now
-RUN /bin/sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list' \
- && /bin/sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-nightly `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-nightly.list' \
- && /bin/sh -c 'wget http://packages.osrfoundation.org/gazebo.key -O - | apt-key add -' \
- && apt-get update \
- && apt-get install -y gz-garden
-
-# Create project directory and import packages
-RUN mkdir -p /tmp/buoy_ws/src \
-  && cd /tmp/buoy_ws/src/ \
-  && wget https://raw.githubusercontent.com/osrf/buoy_entrypoint/main/buoy_all.yaml \
-  && vcs import < buoy_all.yaml
-
-# Install rosdep dependencies - this installs Gazebo and other packages
-RUN sudo apt update \
-  && cd /tmp/buoy_ws \
-  && rosdep update \
-  && rosdep install --from-paths src --ignore-src -r -y -i \
-  && rm -rf /var/lib/apt/lists/* \
-  && apt clean
-
-# Build the project
-RUN /bin/bash -c 'source /opt/ros/${ROS_DISTRO}/setup.bash \
-  && cd /tmp/buoy_ws \
-  && colcon build'
-
-ENTRYPOINT ["/bin/bash" , "-c" , "source /tmp/buoy_ws/install/setup.bash && /bin/bash"]
diff --git a/docker/buoy_rocker/join.bash b/docker/buoy_rocker/join.bash
deleted file mode 100755
index 42322593..00000000
--- a/docker/buoy_rocker/join.bash
+++ /dev/null
@@ -1,26 +0,0 @@
-#!/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 -
diff --git a/docker/buoy_dockerhub/join.bash b/docker/join.bash
similarity index 100%
rename from docker/buoy_dockerhub/join.bash
rename to docker/join.bash
diff --git a/docker/buoy_dockerhub/run.bash b/docker/run.bash
similarity index 100%
rename from docker/buoy_dockerhub/run.bash
rename to docker/run.bash
diff --git a/docker/buoy_dockerhub/run_no_nvidia.bash b/docker/run_no_nvidia.bash
similarity index 100%
rename from docker/buoy_dockerhub/run_no_nvidia.bash
rename to docker/run_no_nvidia.bash
diff --git a/docker/buoy_rocker/run.bash b/docker/run_rocker.bash
similarity index 100%
rename from docker/buoy_rocker/run.bash
rename to docker/run_rocker.bash

From 7ad0f3d42fbfb4a468b44db4b7e4b16b02a5cee3 Mon Sep 17 00:00:00 2001
From: Mabel Zhang <mabel@openrobotics.org>
Date: Thu, 9 Mar 2023 19:11:24 -0500
Subject: [PATCH 03/12] fix user_id

Signed-off-by: Mabel Zhang <mabel@openrobotics.org>
---
 docker/build.bash | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/docker/build.bash b/docker/build.bash
index aa7da460..c18ab8c5 100755
--- a/docker/build.bash
+++ b/docker/build.bash
@@ -34,11 +34,11 @@ then
   exit 2
 fi
 
-user=$(echo $USERNAME)
+user_id=$(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 $image_plus_tag --build-arg USERNAME="$user" -f "$DIR/$image_name/Dockerfile" .
+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"

From 4efe609a7a8b4a14531b97a2d0997df8e50b229a Mon Sep 17 00:00:00 2001
From: Mabel Zhang <mabel@openrobotics.org>
Date: Thu, 9 Mar 2023 19:16:57 -0500
Subject: [PATCH 04/12] add quick access scripts

Signed-off-by: Mabel Zhang <mabel@openrobotics.org>
---
 docker/buoy/Dockerfile | 12 +++++++++++-
 1 file changed, 11 insertions(+), 1 deletion(-)

diff --git a/docker/buoy/Dockerfile b/docker/buoy/Dockerfile
index 17b06043..e15e803f 100644
--- a/docker/buoy/Dockerfile
+++ b/docker/buoy/Dockerfile
@@ -59,6 +59,16 @@ RUN /bin/bash -c 'source /opt/ros/${ROS_DISTRO}/setup.bash \
   && cd ${BUOY_WS} \
   && colcon build'
 
-# TODO: Add a run script under home/$USERNAME/run_simulation.sh to execute ros2 launch
+# Add quick access scripts
+ENV SETUP_SH /home/$USERNAME/setup.bash
+RUN touch ${SETUP_SH} \
+ && chmod 755 ${SETUP_SH} \
+ && echo ". ${BUOY_WS}/install/setup.bash" >> ${SETUP_SH}
+ENV RUN_SH /home/$USERNAME/run_simulation.bash
+RUN touch ${RUN_SH} \
+ && chmod 755 ${RUN_SH} \
+ && echo ". ${BUOY_WS}/install/setup.bash" >> ${RUN_SH} \
+ && echo "ros2 launch buoy_gazebo mbari_wec.launch.py" >> ${RUN_SH}
 
+# Start the container at a bash prompt
 ENTRYPOINT ["/bin/bash" , "-c" , "source ${BUOY_WS}/install/setup.bash && /bin/bash"]

From 5261ed7a21f9eacb388bd70ae17c4a8df7b23416 Mon Sep 17 00:00:00 2001
From: Mabel Zhang <mabel@openrobotics.org>
Date: Thu, 9 Mar 2023 19:18:19 -0500
Subject: [PATCH 05/12] update copyright

Signed-off-by: Mabel Zhang <mabel@openrobotics.org>
---
 docker/run.bash           | 2 +-
 docker/run_no_nvidia.bash | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/docker/run.bash b/docker/run.bash
index c1bcf0e1..623db346 100755
--- a/docker/run.bash
+++ b/docker/run.bash
@@ -1,7 +1,7 @@
 #!/usr/bin/env bash
 
 #
-# Copyright (C) 2023 Open Source Robotics Foundation
+# Copyright (C) 2023 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.
diff --git a/docker/run_no_nvidia.bash b/docker/run_no_nvidia.bash
index e283217d..cfab5a5d 100755
--- a/docker/run_no_nvidia.bash
+++ b/docker/run_no_nvidia.bash
@@ -1,7 +1,7 @@
 #!/usr/bin/env bash
 
 #
-# Copyright (C) 2023 Open Source Robotics Foundation
+# Copyright (C) 2023 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.

From 0f2438a648dc78e72b95759d1a53cc0c756db4b8 Mon Sep 17 00:00:00 2001
From: Mabel Zhang <mabel@openrobotics.org>
Date: Thu, 9 Mar 2023 19:19:52 -0500
Subject: [PATCH 06/12] comment

Signed-off-by: Mabel Zhang <mabel@openrobotics.org>
---
 docker/run_no_nvidia.bash | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/docker/run_no_nvidia.bash b/docker/run_no_nvidia.bash
index cfab5a5d..a4c4736b 100755
--- a/docker/run_no_nvidia.bash
+++ b/docker/run_no_nvidia.bash
@@ -59,7 +59,7 @@ then
   DOCKER_OPTS="$DOCKER_OPTS -v $VIMRC:/home/developer/.vimrc:ro"
 fi
 
-# Mabel: Share your custom terminal setup commands
+# Share your custom terminal setup commands
 GITCONFIG=~/.gitconfig
 DOCKER_OPTS="$DOCKER_OPTS -v $GITCONFIG:/home/developer/.gitconfig:ro"
 

From 034973517830fff1991c3ccd03d6df48115fb5df Mon Sep 17 00:00:00 2001
From: Mabel Zhang <mabel@openrobotics.org>
Date: Thu, 9 Mar 2023 19:30:34 -0500
Subject: [PATCH 07/12] remove extra run file

Signed-off-by: Mabel Zhang <mabel@openrobotics.org>
---
 docker/build.bash         |  8 ++--
 docker/run_no_nvidia.bash | 97 ---------------------------------------
 2 files changed, 5 insertions(+), 100 deletions(-)
 delete mode 100755 docker/run_no_nvidia.bash

diff --git a/docker/build.bash b/docker/build.bash
index c18ab8c5..f697c5c4 100755
--- a/docker/build.bash
+++ b/docker/build.bash
@@ -36,11 +36,13 @@ fi
 
 user_id=$(id -u)
 image_name=$(basename $1)
-image_plus_tag=$image_name:$(export LC_ALL=C; date +%Y_%m_%d_%H%M)
+# Remove timestamp tag to avoid too many tags
+#image_plus_tag=$image_name:$(export LC_ALL=C; date +%Y_%m_%d_%H%M)
+image_plus_tag=$image_name:latest
 
 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
+#docker tag $image_plus_tag $image_name:latest
 
-echo "Built $image_plus_tag and tagged as $image_name:latest"
+echo "Built $image_plus_tag"
 echo "To run:"
 echo "./run.bash [-d|s] $image_name:latest"
diff --git a/docker/run_no_nvidia.bash b/docker/run_no_nvidia.bash
deleted file mode 100755
index a4c4736b..00000000
--- a/docker/run_no_nvidia.bash
+++ /dev/null
@@ -1,97 +0,0 @@
-#!/usr/bin/env bash
-
-#
-# Copyright (C) 2023 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
-#   an X server
-# Optional:
-#   A joystick mounted to /dev/input/js0 or /dev/input/js1
-
-if [ $# -lt 1 ]
-then
-    echo "Usage: $0 <docker image> [<dir with workspace> ...]"
-    exit 1
-fi
-
-IMG=$(basename $1)
-
-ARGS=("$@")
-WORKSPACES=("${ARGS[@]:1}")
-
-# Make sure processes in the container can connect to the x server
-# Necessary so gazebo can create a context for OpenGL rendering (even headless)
-XAUTH=/tmp/.docker.xauth
-if [ ! -f $XAUTH ]
-then
-    xauth_list=$(xauth nlist :0 | sed -e 's/^..../ffff/')
-    if [ ! -z "$xauth_list" ]
-    then
-        echo $xauth_list | xauth -f $XAUTH nmerge -
-    else
-        touch $XAUTH
-    fi
-    chmod a+r $XAUTH
-fi
-
-DOCKER_OPTS=
-
-# Share your vim settings.
-VIMRC=~/.vimrc
-if [ -f $VIMRC ]
-then
-  DOCKER_OPTS="$DOCKER_OPTS -v $VIMRC:/home/developer/.vimrc:ro"
-fi
-
-# Share your custom terminal setup commands
-GITCONFIG=~/.gitconfig
-DOCKER_OPTS="$DOCKER_OPTS -v $GITCONFIG:/home/developer/.gitconfig:ro"
-
-for WS_DIR in ${WORKSPACES[@]}
-do
-  WS_DIRNAME=$(basename $WS_DIR)
-  if [ ! -d $WS_DIR/src ]
-  then
-    echo "Other! $WS_DIR"
-    DOCKER_OPTS="$DOCKER_OPTS -v $WS_DIR:/home/developer/other/$WS_DIRNAME"
-  else
-    echo "Workspace! $WS_DIR"
-    DOCKER_OPTS="$DOCKER_OPTS -v $WS_DIR:/home/developer/workspaces/$WS_DIRNAME"
-  fi
-done
-
-# Mount extra volumes if needed.
-# E.g.:
-# -v "/opt/sublime_text:/opt/sublime_text" \
-
-docker run -it \
-  -e DISPLAY \
-  -v "/tmp/.X11-unix:/tmp/.X11-unix" \
-  -v "/etc/localtime:/etc/localtime:ro" \
-  -v "/dev/input:/dev/input" \
-  --rm \
-  --security-opt seccomp=unconfined \
-  --ipc=host \
-  --network=host \
-  $DOCKER_OPTS \
-  $IMG
-  #--privileged \
-  #-e QT_X11_NO_MITSHM=1 \
-  #-e XAUTHORITY=$XAUTH \
-  #-v "$XAUTH:$XAUTH" \

From 975123b307536125abe3302eb067b1ceb561b5d4 Mon Sep 17 00:00:00 2001
From: Mabel Zhang <mabel@openrobotics.org>
Date: Thu, 9 Mar 2023 19:44:14 -0500
Subject: [PATCH 08/12] remove nvidia

Signed-off-by: Mabel Zhang <mabel@openrobotics.org>
---
 docker/run.bash | 7 +++----
 1 file changed, 3 insertions(+), 4 deletions(-)

diff --git a/docker/run.bash b/docker/run.bash
index 623db346..92482bba 100755
--- a/docker/run.bash
+++ b/docker/run.bash
@@ -20,7 +20,6 @@
 # Runs a docker container with the image created by build.bash
 # Requires:
 #   docker
-#   nvidia-docker
 #   an X server
 # Optional:
 #   A joystick mounted to /dev/input/js0 or /dev/input/js1
@@ -31,6 +30,8 @@ then
     exit 1
 fi
 
+DOCKER_OPTS=
+
 IMG=$(basename $1)
 
 ARGS=("$@")
@@ -51,8 +52,6 @@ then
     chmod a+r $XAUTH
 fi
 
-DOCKER_OPTS=
-
 # Share your vim settings.
 VIMRC=~/.vimrc
 if [ -f $VIMRC ]
@@ -82,6 +81,7 @@ done
 # -v "/opt/sublime_text:/opt/sublime_text" \
 
 # --ipc=host and --network=host are needed for no-NVIDIA Dockerfile to work
+# If need NVIDIA, add --runtime=nvidia
 docker run -it \
   -e DISPLAY \
   -e QT_X11_NO_MITSHM=1 \
@@ -92,7 +92,6 @@ docker run -it \
   -v "/dev/input:/dev/input" \
   --privileged \
   --rm \
-  --runtime=nvidia \
   --security-opt seccomp=unconfined \
   --ipc=host \
   --network=host \

From 7ce87154b4c4748f2779a241793cfec96744c13d Mon Sep 17 00:00:00 2001
From: Mabel Zhang <mabel@openrobotics.org>
Date: Wed, 15 Mar 2023 02:37:28 -0400
Subject: [PATCH 09/12] add NVIDIA base image and bash script option. Update
 README

Signed-off-by: Mabel Zhang <mabel@openrobotics.org>
---
 README.md                                     |  76 +++---
 docker/build.bash                             |  53 +++-
 docker/buoy/Dockerfile                        |  66 ++++-
 docker/nvidia_opengl_ubuntu22/Dockerfile      |  63 +++++
 .../NGC-DL-CONTAINER-LICENSE                  | 230 ++++++++++++++++++
 docker/run.bash                               |  29 ++-
 6 files changed, 461 insertions(+), 56 deletions(-)
 create mode 100644 docker/nvidia_opengl_ubuntu22/Dockerfile
 create mode 100644 docker/nvidia_opengl_ubuntu22/NGC-DL-CONTAINER-LICENSE

diff --git a/README.md b/README.md
index 46331b66..004c1c1a 100644
--- a/README.md
+++ b/README.md
@@ -65,7 +65,7 @@ See [gz-math Python Get Started tutorial](https://github.com/gazebosim/gz-math/b
     sudo apt install python3-vcstool python3-colcon-common-extensions python3-pip git wget
     ```
 
-##### Usage
+##### Build
 
 1. Create a workspace, for example:
 
@@ -106,17 +106,6 @@ See [gz-math Python Get Started tutorial](https://github.com/gazebosim/gz-math/b
     colcon build
     ```
 
-##### Run
-
-1. In a new terminal, source the workspace
-
-    `. ~/buoy_ws/install/setup.sh`
-
-1. Launch the simulation
-
-    `ros2 launch buoy_gazebo mbari_wec.launch.py`
-
-
 ### Using docker
 ##### Requirements
 
@@ -126,34 +115,37 @@ See [gz-math Python Get Started tutorial](https://github.com/gazebosim/gz-math/b
 
 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
+##### Build
 
 1. Clone the buoy_entrypoint repository to download the latest Dockerfile.
 
-    ```
-    git clone https://github.com/osrf/buoy_entrypoint.git
-    cd ~/buoy_entrypoint/docker/
-    ```
+   ```
+   git clone https://github.com/osrf/buoy_entrypoint.git
+   cd ~/buoy_entrypoint/docker/
+   ```
 
 1. Build the docker image
 
-    ```
-    ./build.bash buoy
-    ```
+   If you have an NVIDIA graphics card
+   ```
+   ./build.bash nvidia_opengl_ubuntu22
+   ./build.bash buoy
+   ```
+   Otherwise
+   ```
+   ./build.bash buoy --no-nvidia
+   ```
 
 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.
+   If you have an NVIDIA graphics card
+   ```
+   ./run.bash buoy
+   ```
+   Otherwise
+   ```
+   ./run.bash buoy --no-nvidia
+   ```
 
 1. To have another window running the same docker container, run this command in a new terminal:
 
@@ -161,12 +153,26 @@ See [gz-math Python Get Started tutorial](https://github.com/gazebosim/gz-math/b
    ./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.
+##### Quick start
 
-##### Run
+Quick start scripts are provided in the home directory:
 
-Inside the docker container, run:
+This sources the compiled workspace:
+```
+./setup.bash
+```
 
+This sources the compiled workspace and launches the simulation:
 ```
-gz sim mbari_wec.sdf -r
+./run_simulation.bash
 ```
+
+## Run
+
+1. In a new terminal (whether on host machine or in Docker container), source the workspace
+
+    `. ~/buoy_ws/install/setup.sh`
+
+1. Launch the simulation
+
+    `ros2 launch buoy_gazebo mbari_wec.launch.py`
diff --git a/docker/build.bash b/docker/build.bash
index f697c5c4..9bc786f3 100755
--- a/docker/build.bash
+++ b/docker/build.bash
@@ -19,15 +19,47 @@
 
 # Builds a Docker image.
 
-if [ $# -lt 1 ]
+# No arg
+if [ $# -eq 0 ]
 then
-    echo "Usage: $0 <name of Dockerfile>"
+    echo "Usage: $0 directory-name"
     exit 1
 fi
 
-# get path to current directory
+# Get path to current directory
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
 
+# Default base image, defined in nvidia_opengl_ubuntu22/Dockerfile
+
+# Ubuntu with nvidia-docker2 beta opengl support, i.e.
+# nvidia/opengl:1.0-glvnd-devel-ubuntu22.04, doesn't exist for Ubuntu 22.04
+# at time of writing. Use homebrewed version in ./nvidia_opengl_ubuntu22/.
+# https://hub.docker.com/r/nvidia/opengl
+base="nvidia_opengl_ubuntu22:latest"
+image_suffix="_nvidia"
+
+# Parse and remove args
+PARAMS=""
+while (( "$#" )); do
+  case "$1" in
+    --no-nvidia)
+      base="ubuntu:jammy"
+      image_suffix="_no_nvidia"
+      shift
+      ;;
+    -*|--*=) # unsupported flags
+      echo "Error: Unsupported flag $1" >&2
+      exit 1
+      ;;
+    *) # preserve positional arguments
+      PARAMS="$PARAMS $1"
+      shift
+      ;;
+  esac
+done
+# set positional arguments in their proper place
+eval set -- "$PARAMS"
+
 if [ ! -d $DIR/$1 ]
 then
   echo "image-name must be a directory in the same folder as this script"
@@ -36,13 +68,14 @@ fi
 
 user_id=$(id -u)
 image_name=$(basename $1)
-# Remove timestamp tag to avoid too many tags
-#image_plus_tag=$image_name:$(export LC_ALL=C; date +%Y_%m_%d_%H%M)
+#image_plus_tag=$image_name:$(date +%Y_%b_%d_%H%M)
+# Tag as latest so don't have a dozen uniquely timestamped images hanging around
 image_plus_tag=$image_name:latest
 
-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 "Building $image_name with base image $base"
+docker build --rm -t $image_plus_tag --build-arg base=$base --build-arg user_id=$user_id $DIR/$image_name
 echo "Built $image_plus_tag"
-echo "To run:"
-echo "./run.bash [-d|s] $image_name:latest"
+
+# Extra tag in case you have both the NVIDIA and no-NVIDIA images
+docker tag $image_plus_tag $image_name$image_suffix:latest
+echo "Tagged as $image_name$image_suffix:latest"
diff --git a/docker/buoy/Dockerfile b/docker/buoy/Dockerfile
index e15e803f..180cc440 100644
--- a/docker/buoy/Dockerfile
+++ b/docker/buoy/Dockerfile
@@ -1,19 +1,68 @@
-FROM ros:humble-ros-base
+#!/usr/bin/env bash
+
+#
+# Copyright (C) 2023 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.
+#
+#
+
+ARG base
+FROM ${base}
+
 ENV DEBIAN_FRONTEND=noninteractive
 
 # Necessary tools
 RUN apt update \
  && apt install -y \
         apt-utils \
+        build-essential \
+        cmake \
+        cppcheck \
+        curl \
+        doxygen \
+        gdb \
+        git \
+        gnupg2 \
+        locales \
+        lsb-release \
+        python3-pip \
+        sudo \
         vim \
-        wget
+        wget \
+ && apt clean
+
+# Set Locale for ROS 2
+RUN locale-gen en_US en_US.UTF-8 && \
+  update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 && \
+  export LANG=en_US.UTF-8
+
+# Add ROS 2 apt repository
+# Set up keys
+RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+# Set up sources.list
+RUN /bin/sh -c 'echo "deb [arch=amd64,arm64] http://packages.ros.org/ros2/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list' \
+ && /bin/sh -c 'echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null'
 
-# Garden only has nightlies for now
-RUN /bin/sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list' \
- && /bin/sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-nightly `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-nightly.list' \
- && /bin/sh -c 'wget http://packages.osrfoundation.org/gazebo.key -O - | apt-key add -' \
+# Set up Gazebo keys and install
+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' \
  && apt update \
  && apt install -y \
+        python3-rosdep \
+        python3-vcstool \
+        python3-colcon-common-extensions \
+        ros-humble-desktop \
         ros-humble-rmw-cyclonedds-cpp \
         gz-garden \
  && apt clean
@@ -49,13 +98,14 @@ RUN mkdir -p ${BUOY_WS}/src \
 # Install rosdep dependencies
 RUN sudo apt update \
  && cd ${BUOY_WS} \
+ && sudo rosdep init \
  && rosdep update \
- && rosdep install --from-paths src --ignore-src -r -y -i \
+ && rosdep install --from-paths src --ignore-src -r -y -i --rosdistro humble \
  && sudo rm -rf /var/lib/apt/lists/* \
  && sudo apt clean
 
 # Build the project
-RUN /bin/bash -c 'source /opt/ros/${ROS_DISTRO}/setup.bash \
+RUN /bin/bash -c 'source /opt/ros/humble/setup.bash \
   && cd ${BUOY_WS} \
   && colcon build'
 
diff --git a/docker/nvidia_opengl_ubuntu22/Dockerfile b/docker/nvidia_opengl_ubuntu22/Dockerfile
new file mode 100644
index 00000000..19a24d1f
--- /dev/null
+++ b/docker/nvidia_opengl_ubuntu22/Dockerfile
@@ -0,0 +1,63 @@
+#
+# Copyright (C) 2023 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.
+#
+
+# Since nvidia/opengl:*-glvnd-devel-ubuntu22.04 is not available yet, this
+# builds an equivalent, to run X server in an Ubuntu 20.04 Docker image.
+# https://hub.docker.com/r/nvidia/opengl
+
+FROM ubuntu:jammy
+
+#####
+# Following lines are copied from
+# https://gitlab.com/nvidia/container-images/opengl/-/blob/ubuntu18.04/base/Dockerfile
+# and removed :i386 packages (not found)
+RUN dpkg --add-architecture i386 \
+ && apt-get update \
+ && apt-get install -y --no-install-recommends \
+        libxau6 libxau6:i386 \
+        libxdmcp6 libxdmcp6:i386 \
+        libxcb1 libxcb1:i386 \
+        libxext6 libxext6:i386 \
+        libx11-6 libx11-6:i386 && \
+    rm -rf /var/lib/apt/lists/*
+
+# nvidia-container-runtime
+ENV NVIDIA_VISIBLE_DEVICES \
+        ${NVIDIA_VISIBLE_DEVICES:-all}
+ENV NVIDIA_DRIVER_CAPABILITIES \
+        ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics,compat32,utility
+
+RUN echo "/usr/local/nvidia/lib" >> /etc/ld.so.conf.d/nvidia.conf && \
+    echo "/usr/local/nvidia/lib64" >> /etc/ld.so.conf.d/nvidia.conf
+
+# https://gitlab.com/nvidia/container-images/opengl/-/blob/ubuntu20.04/NGC-DL-CONTAINER-LICENSE
+COPY NGC-DL-CONTAINER-LICENSE /
+
+# Required for non-glvnd setups.
+ENV LD_LIBRARY_PATH /usr/lib/x86_64-linux-gnu:/usr/lib/i386-linux-gnu${LD_LIBRARY_PATH:+:${LD_LIBRARY_PATH}}:/usr/local/nvidia/lib:/usr/local/nvidia/lib64
+
+#####
+# Copied from
+# https://gitlab.com/nvidia/container-images/opengl/blob/ubuntu20.04/glvnd/devel/Dockerfile
+# and removed :i386 packages (not found)
+RUN apt-get update \
+ && apt-get install -y --no-install-recommends \
+        pkg-config \
+        libglvnd-dev libglvnd-dev:i386 \
+        libgl1-mesa-dev libgl1-mesa-dev:i386 \
+        libegl1-mesa-dev libegl1-mesa-dev:i386 \
+        libgles2-mesa-dev libgles2-mesa-dev:i386 && \
+    rm -rf /var/lib/apt/lists/*
diff --git a/docker/nvidia_opengl_ubuntu22/NGC-DL-CONTAINER-LICENSE b/docker/nvidia_opengl_ubuntu22/NGC-DL-CONTAINER-LICENSE
new file mode 100644
index 00000000..be9eb755
--- /dev/null
+++ b/docker/nvidia_opengl_ubuntu22/NGC-DL-CONTAINER-LICENSE
@@ -0,0 +1,230 @@
+NVIDIA DEEP LEARNING CONTAINER LICENSE
+
+This license is a legal agreement between you and NVIDIA Corporation ("NVIDIA") and governs the use
+of the NVIDIA container and all its contents (“CONTAINER”).
+
+This license can be accepted only by an adult of legal age of majority in the country in which the
+CONTAINER is used. If you are under the legal age of majority, you must ask your parent or legal
+guardian to consent to this license. If you are entering this license on behalf of a company or
+other legal entity, you represent that you have legal authority and “you” will mean the entity you
+represent.
+
+By using the CONTAINER, you affirm that you have reached the legal age of majority, you accept the
+terms of this license, and you take legal and financial responsibility for the actions of your
+permitted users.
+
+You agree to use the CONTAINER only for purposes that are permitted by (a) this license, and (b) any
+applicable law, regulation or generally accepted practices or guidelines in the relevant
+jurisdictions.
+
+1. LICENSE. Subject to the terms of this license, NVIDIA hereby grants you a non-exclusive,
+non-transferable license, without the right to sublicense (except as expressly provided in this
+license) to:
+
+a. Install and use copies of the CONTAINER, and modify and create derivative works of samples or
+example source code delivered in the CONTAINER (if applicable), to develop and test services and
+applications,
+
+b. Deploy the CONTAINER on infrastructure you own or lease to offer a service to third parties,
+without distributing the CONTAINER or exposing the NVIDIA APIs in the CONTAINER directly to such
+service users, and
+
+c. Develop and extend the CONTAINER to create a Compatible (as defined below) derived CONTAINER that
+includes the entire CONTAINER plus other software with primary functionality, to develop and compile
+applications, and distribute such derived CONTAINER to run applications, subject to the distribution
+requirements indicated in this license. As used in this section, “Compatible” means that extensions
+to the CONTAINER must not adversely affect the functionality of the other components in the
+CONTAINER.
+
+2. DISTRIBUTION REQUIREMENTS. For purposes of this Section 2, the term “distribution” also means the
+deployment of CONTAINERS in a service or an application for third parties to access over the
+internet. These are the distribution requirements for you to exercise the grants above:
+
+a. A service or an application must have material additional functionality, beyond the included
+portions of the CONTAINER.
+
+b. The following notice shall be included in modifications and derivative works of source code
+distributed: “This software contains source code provided by NVIDIA Corporation.”
+
+c. You agree to distribute the CONTAINER subject to the terms at least as protective as the terms of
+this license, including (without limitation) terms relating to the license grant, license
+restrictions and protection of NVIDIA’s intellectual property rights. Additionally, you agree that
+you will protect the privacy, security and legal rights of your application users.
+
+d. You agree to notify NVIDIA in writing of any known or suspected distribution or use of the
+CONTAINER not in compliance with the requirements of this license, and to enforce the terms of your
+agreements with respect to the distributed CONTAINER.
+
+3. AUTHORIZED USERS. You may allow employees and contractors of your entity or of your
+subsidiary(ies) to access and use the CONTAINER from your secure network to perform work on your
+behalf. If you are an academic institution you may allow users enrolled or employed by the academic
+institution to access and use the CONTAINER from your secure network. You are responsible for the
+compliance with the terms of this license by your authorized users.
+
+4. LIMITATIONS. Your license to use the CONTAINER is restricted as follows:
+
+a. The CONTAINER is licensed for you to develop services and applications only for their use in
+systems with NVIDIA GPUs.
+
+b. You may not reverse engineer, decompile or disassemble, or remove copyright or other proprietary
+notices from any portion of the CONTAINER or copies of the CONTAINER.
+
+c. Except as expressly provided in this license, you may not copy, sell, rent, sublicense, transfer,
+distribute, modify, or create derivative works of any portion of the CONTAINER. For clarity, you may
+not distribute or sublicense the CONTAINER as a stand-alone product.
+
+d. Unless you have an agreement with NVIDIA for this purpose, you may not indicate that a service or
+an application created with the CONTAINER is sponsored or endorsed by NVIDIA.
+
+e. You may not bypass, disable, or circumvent any technical limitation, encryption, security,
+digital rights management or authentication mechanism in the CONTAINER.
+
+f. You may not replace any NVIDIA software components in the CONTAINER that are governed by this
+license with other software that implements NVIDIA APIs.
+
+g. You may not use the CONTAINER in any manner that would cause it to become subject to an open
+source software license. As examples, licenses that require as a condition of use, modification,
+and/or distribution that the CONTAINER be: (i) disclosed or distributed in source code form; (ii)
+licensed for the purpose of making derivative works; or (iii) redistributable at no charge.
+
+h. Unless you have an agreement with NVIDIA for this purpose, you may not use the CONTAINER with any
+system or application where the use or failure of the system or application can reasonably be
+expected to threaten or result in personal injury, death, or catastrophic loss. Examples include use
+in avionics, navigation, military, medical, life support or other life critical applications. NVIDIA
+does not design, test or manufacture the CONTAINER for these critical uses and NVIDIA shall not be
+liable to you or any third party, in whole or in part, for any claims or damages arising from such
+uses.
+
+i. You agree to defend, indemnify and hold harmless NVIDIA and its affiliates, and their respective
+employees, contractors, agents, officers and directors, from and against any and all claims,
+damages, obligations, losses, liabilities, costs or debt, fines, restitutions and expenses
+(including but not limited to attorney’s fees and costs incident to establishing the right of
+indemnification) arising out of or related to your use of the CONTAINER outside of the scope of this
+license, or not in compliance with its terms.
+
+5. UPDATES. NVIDIA may, at its option, make available patches, workarounds or other updates to this
+CONTAINER. Unless the updates are provided with their separate governing terms, they are deemed part
+of the CONTAINER licensed to you as provided in this license. You agree that the form and content of
+the CONTAINER that NVIDIA provides may change without prior notice to you. While NVIDIA generally
+maintains compatibility between versions, NVIDIA may in some cases make changes that introduce
+incompatibilities in future versions of the CONTAINER.
+
+6. PRE-RELEASE VERSIONS. CONTAINER versions identified as alpha, beta, preview, early access or
+otherwise as pre-release may not be fully functional, may contain errors or design flaws, and may
+have reduced or different security, privacy, availability, and reliability standards relative to
+commercial versions of NVIDIA software and materials. You may use a pre-release CONTAINER version at
+your own risk, understanding that these versions are not intended for use in production or
+business-critical systems. NVIDIA may choose not to make available a commercial version of any
+pre-release CONTAINER. NVIDIA may also choose to abandon development and terminate the availability
+of a pre-release CONTAINER at any time without liability.
+
+7. THIRD-PARTY COMPONENTS. The CONTAINER may include third-party components with separate legal
+notices or terms as may be described in proprietary notices accompanying the CONTAINER. If and to
+the extent there is a conflict between the terms in this license and the third-party license terms,
+the third-party terms control only to the extent necessary to resolve the conflict.
+
+You acknowledge and agree that it is your sole responsibility to obtain any additional third-party
+licenses required to make, have made, use, have used, sell, import, and offer for sale your products
+or services that include or incorporate any third-party software and content relating to audio
+and/or video encoders and decoders from, including but not limited to, Microsoft, Thomson,
+Fraunhofer IIS, Sisvel S.p.A., MPEG-LA, and Coding Technologies. NVIDIA does not grant to you under
+this license any necessary patent or other rights with respect to any audio and/or video encoders
+and decoders.
+
+Subject to the other terms of this license, you may use the CONTAINER to develop and test
+applications released under Open Source Initiative (OSI) approved open source software licenses.
+
+8. OWNERSHIP.
+
+8.1 NVIDIA reserves all rights, title and interest in and to the CONTAINER not expressly granted to
+you under this license. NVIDIA and its suppliers hold all rights, title and interest in and to the
+CONTAINER, including their respective intellectual property rights. The CONTAINER is copyrighted and
+protected by the laws of the United States and other countries, and international treaty provisions.
+
+8.2 Subject to the rights of NVIDIA and its suppliers in the CONTAINER, you hold all rights, title
+and interest in and to your services, applications and your derivative works of the sample source
+code delivered in the CONTAINER including their respective intellectual property rights.
+
+9. FEEDBACK. You may, but are not obligated to, provide to NVIDIA suggestions, fixes, modifications,
+feature requests or other feedback regarding the CONTAINER (“Feedback”). Feedback, even if
+designated as confidential by you, shall not create any confidentiality obligation for NVIDIA.
+NVIDIA and its designees have a perpetual, non-exclusive, worldwide, irrevocable license to use,
+reproduce, publicly display, modify, create derivative works of, license, sublicense, and otherwise
+distribute and exploit Feedback as NVIDIA sees fit without payment and without obligation or
+restriction of any kind on account of intellectual property rights or otherwise.
+
+10. NO WARRANTIES. THE CONTAINER IS PROVIDED AS-IS. TO THE MAXIMUM EXTENT PERMITTED BY APPLICABLE
+LAW NVIDIA AND ITS AFFILIATES EXPRESSLY DISCLAIM ALL WARRANTIES OF ANY KIND OR NATURE, WHETHER
+EXPRESS, IMPLIED OR STATUTORY, INCLUDING, BUT NOT LIMITED TO, WARRANTIES OF MERCHANTABILITY,
+NON-INFRINGEMENT, OR FITNESS FOR A PARTICULAR PURPOSE. NVIDIA DOES NOT WARRANT THAT THE CONTAINER
+WILL MEET YOUR REQUIREMENTS OR THAT THE OPERATION THEREOF WILL BE UNINTERRUPTED OR ERROR-FREE, OR
+THAT ALL ERRORS WILL BE CORRECTED.
+
+11. LIMITATIONS OF LIABILITY. TO THE MAXIMUM EXTENT PERMITTED BY APPLICABLE LAW NVIDIA AND ITS
+AFFILIATES SHALL NOT BE LIABLE FOR ANY SPECIAL, INCIDENTAL, PUNITIVE OR CONSEQUENTIAL DAMAGES, OR
+FOR ANY LOST PROFITS, PROJECT DELAYS, LOSS OF USE, LOSS OF DATA OR LOSS OF GOODWILL, OR THE COSTS OF
+PROCURING SUBSTITUTE PRODUCTS, ARISING OUT OF OR IN CONNECTION WITH THIS LICENSE OR THE USE OR
+PERFORMANCE OF THE CONTAINER, WHETHER SUCH LIABILITY ARISES FROM ANY CLAIM BASED UPON BREACH OF
+CONTRACT, BREACH OF WARRANTY, TORT (INCLUDING NEGLIGENCE), PRODUCT LIABILITY OR ANY OTHER CAUSE OF
+ACTION OR THEORY OF LIABILITY, EVEN IF NVIDIA HAS PREVIOUSLY BEEN ADVISED OF, OR COULD REASONABLY
+HAVE FORESEEN, THE POSSIBILITY OF SUCH DAMAGES. IN NO EVENT WILL NVIDIA’S AND ITS AFFILIATES TOTAL
+CUMULATIVE LIABILITY UNDER OR ARISING OUT OF THIS LICENSE EXCEED US$10.00. THE NATURE OF THE
+LIABILITY OR THE NUMBER OF CLAIMS OR SUITS SHALL NOT ENLARGE OR EXTEND THIS LIMIT.
+
+12. TERMINATION. Your rights under this license will terminate automatically without notice from
+NVIDIA if you fail to comply with any term and condition of this license or if you commence or
+participate in any legal proceeding against NVIDIA with respect to the CONTAINER. NVIDIA may
+terminate this license with advance written notice to you, if NVIDIA decides to no longer provide
+the CONTAINER in a country or, in NVIDIA’s sole discretion, the continued use of it is no longer
+commercially viable. Upon any termination of this license, you agree to promptly discontinue use of
+the CONTAINER and destroy all copies in your possession or control. Your prior distributions in
+accordance with this license are not affected by the termination of this license. All provisions of
+this license will survive termination, except for the license granted to you.
+
+13. APPLICABLE LAW. This license will be governed in all respects by the laws of the United States
+and of the State of Delaware, without regard to the conflicts of laws principles. The United Nations
+Convention on Contracts for the International Sale of Goods is specifically disclaimed. You agree to
+all terms of this license in the English language. The state or federal courts residing in Santa
+Clara County, California shall have exclusive jurisdiction over any dispute or claim arising out of
+this license. Notwithstanding this, you agree that NVIDIA shall still be allowed to apply for
+injunctive remedies or urgent legal relief in any jurisdiction.
+
+14. NO ASSIGNMENT. This license and your rights and obligations thereunder may not be assigned by
+you by any means or operation of law without NVIDIA’s permission. Any attempted assignment not
+approved by NVIDIA in writing shall be void and of no effect. NVIDIA may assign, delegate or
+transfer this license and its rights and obligations, and if to a non-affiliate you will be
+notified.
+
+15. EXPORT. The CONTAINER is subject to United States export laws and regulations. You agree to
+comply with all applicable
+
+U.S. and international export laws, including the Export Administration Regulations (EAR)
+administered by the U.S. Department of Commerce and economic sanctions administered by the U.S.
+Department of Treasury’s Office of Foreign Assets Control (OFAC). These laws include restrictions on
+destinations, end-users and end-use. By accepting this license, you confirm that you are not
+currently residing in a country or region currently embargoed by the U.S. and that you are not
+otherwise prohibited from receiving the CONTAINER.
+
+16. GOVERNMENT USE. The CONTAINER is, and shall be treated as being, “Commercial Items” as that term
+is defined at 48 CFR § 2.101, consisting of “commercial computer software” and “commercial computer
+software documentation”, respectively, as such terms are used in, respectively, 48 CFR § 12.212 and
+48 CFR §§ 227.7202 & 252.227-7014(a)(1). Use, duplication or disclosure by the U.S. Government or a
+U.S. Government subcontractor is subject to the restrictions in this license pursuant to 48 CFR §
+12.212 or 48 CFR § 227.7202. In no event shall the US Government user acquire rights in the
+CONTAINER beyond those specified in 48 C.F.R. 52.227-19(b)(1)-(2).
+
+17. NOTICES. Please direct your legal notices or other correspondence to NVIDIA Corporation, 2788
+San Tomas Expressway, Santa Clara, California 95051, United States of America, Attention: Legal
+Department.
+
+18. ENTIRE AGREEMENT. This license is the final, complete and exclusive agreement between the
+parties relating to the subject matter of this license and supersedes all prior or contemporaneous
+understandings and agreements relating to this subject matter, whether oral or written. If any court
+of competent jurisdiction determines that any provision of this license is illegal, invalid or
+unenforceable, the remaining provisions will remain in full force and effect. Any amendment or
+waiver under this license shall be in writing and signed by representatives of both parties.
+
+19. LICENSING. If the distribution terms in this license are not suitable for your organization, or
+for any questions regarding this license, please contact NVIDIA at nvidia-compute-license-questions@nvidia.com.
+
+(v. December 4, 2020)
diff --git a/docker/run.bash b/docker/run.bash
index 92482bba..1befc90d 100755
--- a/docker/run.bash
+++ b/docker/run.bash
@@ -22,6 +22,7 @@
 #   docker
 #   an X server
 # Optional:
+#   nvidia-docker
 #   A joystick mounted to /dev/input/js0 or /dev/input/js1
 
 if [ $# -lt 1 ]
@@ -30,7 +31,29 @@ then
     exit 1
 fi
 
-DOCKER_OPTS=
+# Default to NVIDIA
+DOCKER_OPTS="--runtime=nvidia"
+
+# Parse and remove args
+PARAMS=""
+while (( "$#" )); do
+  case "$1" in
+    --no-nvidia)
+        DOCKER_OPTS=""
+      shift
+      ;;
+    -*|--*=) # unsupported flags
+      echo "Error: Unsupported flag $1" >&2
+      exit 1
+      ;;
+    *) # preserve positional arguments
+      PARAMS="$PARAMS $1"
+      shift
+      ;;
+  esac
+done
+# set positional arguments in their proper place
+eval set -- "$PARAMS"
 
 IMG=$(basename $1)
 
@@ -45,6 +68,7 @@ then
     xauth_list=$(xauth nlist $DISPLAY | sed -e 's/^..../ffff/')
     if [ ! -z "$xauth_list" ]
     then
+        touch $XAUTH
         echo $xauth_list | xauth -f $XAUTH nmerge -
     else
         touch $XAUTH
@@ -59,7 +83,7 @@ then
   DOCKER_OPTS="$DOCKER_OPTS -v $VIMRC:/home/developer/.vimrc:ro"
 fi
 
-# Mabel: Share your custom terminal setup commands
+# Share your custom terminal setup commands
 GITCONFIG=~/.gitconfig
 DOCKER_OPTS="$DOCKER_OPTS -v $GITCONFIG:/home/developer/.gitconfig:ro"
 
@@ -81,7 +105,6 @@ done
 # -v "/opt/sublime_text:/opt/sublime_text" \
 
 # --ipc=host and --network=host are needed for no-NVIDIA Dockerfile to work
-# If need NVIDIA, add --runtime=nvidia
 docker run -it \
   -e DISPLAY \
   -e QT_X11_NO_MITSHM=1 \

From 4ee2f1c0b14e40490f03c9b52a110de948893649 Mon Sep 17 00:00:00 2001
From: Mabel Zhang <mabel@openrobotics.org>
Date: Mon, 20 Mar 2023 14:36:33 +0900
Subject: [PATCH 10/12] remove rocker run script

Signed-off-by: Mabel Zhang <mabel@openrobotics.org>
---
 docker/run_rocker.bash | 64 ------------------------------------------
 1 file changed, 64 deletions(-)
 delete mode 100755 docker/run_rocker.bash

diff --git a/docker/run_rocker.bash b/docker/run_rocker.bash
deleted file mode 100755
index 47525c70..00000000
--- a/docker/run_rocker.bash
+++ /dev/null
@@ -1,64 +0,0 @@
-#!/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

From 9c102e16fc9258b2620613c1b56d8362fc32e050 Mon Sep 17 00:00:00 2001
From: Mabel Zhang <mabel@openrobotics.org>
Date: Tue, 21 Mar 2023 14:06:20 +0900
Subject: [PATCH 11/12] Format and move nvidia requirement

---
 README.md | 26 ++++++++++++++++----------
 1 file changed, 16 insertions(+), 10 deletions(-)

diff --git a/README.md b/README.md
index 004c1c1a..b1a379e4 100644
--- a/README.md
+++ b/README.md
@@ -21,6 +21,7 @@ These are the repositories for the project:
       Gazebo plugins, worlds and launch files to simulate the buoy.
 
 ## Interfaces and Examples
+
 There are two GitHub
 [template](https://docs.github.com/en/repositories/creating-and-managing-repositories/creating-a-repository-from-a-template)
 repositories set up (cpp/python) for a quick start on writing a
@@ -36,7 +37,8 @@ controller implementations.
 
 ## Install
 ### On Host System
-##### Requirements
+#### Requirements
+
 At the moment, only source installation is supported. Use Ubuntu Jammy.
 
 1. Install [ROS 2 Humble](https://docs.ros.org/en/humble/index.html)
@@ -65,7 +67,7 @@ See [gz-math Python Get Started tutorial](https://github.com/gazebosim/gz-math/b
     sudo apt install python3-vcstool python3-colcon-common-extensions python3-pip git wget
     ```
 
-##### Build
+#### Build
 
 1. Create a workspace, for example:
 
@@ -107,15 +109,15 @@ See [gz-math Python Get Started tutorial](https://github.com/gazebosim/gz-math/b
     ```
 
 ### Using docker
-##### Requirements
+#### 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. Install Docker using [installation instructions](https://docs.docker.com/engine/install/ubuntu/).
 
 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.
 
-##### Build
+1. If you have an NVIDIA graphics card, it can help speed up rendering. Install [nvidia-docker](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/install-guide.html#docker).
+
+#### Build
 
 1. Clone the buoy_entrypoint repository to download the latest Dockerfile.
 
@@ -153,7 +155,7 @@ See [gz-math Python Get Started tutorial](https://github.com/gazebosim/gz-math/b
    ./join.bash buoy_latest_runtime
    ```
 
-##### Quick start
+#### Quick start
 
 Quick start scripts are provided in the home directory:
 
@@ -171,8 +173,12 @@ This sources the compiled workspace and launches the simulation:
 
 1. In a new terminal (whether on host machine or in Docker container), source the workspace
 
-    `. ~/buoy_ws/install/setup.sh`
+   ```
+   . ~/buoy_ws/install/setup.sh
+   ```
 
 1. Launch the simulation
 
-    `ros2 launch buoy_gazebo mbari_wec.launch.py`
+   ```
+   ros2 launch buoy_gazebo mbari_wec.launch.py
+   ```

From baadcf3f96c7e89a9261260947bdec835eb51dd7 Mon Sep 17 00:00:00 2001
From: Mabel Zhang <mabel@openrobotics.org>
Date: Tue, 21 Mar 2023 19:32:09 +0900
Subject: [PATCH 12/12] update join.bash

Signed-off-by: Mabel Zhang <mabel@openrobotics.org>
---
 README.md         | 2 +-
 docker/build.bash | 1 -
 docker/join.bash  | 8 ++++++--
 3 files changed, 7 insertions(+), 4 deletions(-)

diff --git a/README.md b/README.md
index b1a379e4..7e96c54c 100644
--- a/README.md
+++ b/README.md
@@ -152,7 +152,7 @@ See [gz-math Python Get Started tutorial](https://github.com/gazebosim/gz-math/b
 1. To have another window running the same docker container, run this command in a new terminal:
 
    ```
-   ./join.bash buoy_latest_runtime
+   ./join.bash buoy
    ```
 
 #### Quick start
diff --git a/docker/build.bash b/docker/build.bash
index 9bc786f3..2f396619 100755
--- a/docker/build.bash
+++ b/docker/build.bash
@@ -68,7 +68,6 @@ fi
 
 user_id=$(id -u)
 image_name=$(basename $1)
-#image_plus_tag=$image_name:$(date +%Y_%b_%d_%H%M)
 # Tag as latest so don't have a dozen uniquely timestamped images hanging around
 image_plus_tag=$image_name:latest
 
diff --git a/docker/join.bash b/docker/join.bash
index 42322593..aa44be66 100755
--- a/docker/join.bash
+++ b/docker/join.bash
@@ -19,8 +19,12 @@
 # Typical usage: ./join.bash <container_name>
 #
 
-CONTAINER_ID=$1
+IMG=$(basename $1)
+# Use quotes if image name contains symbols like a forward slash /, but then
+# cannot use `basename`.
+#IMG="$1"
 
 xhost +
-docker exec --privileged -e DISPLAY=${DISPLAY} -e LINES=`tput lines` -it ${CONTAINER_ID} bash
+containerid=$(docker ps -aqf "ancestor=${IMG}")
+docker exec --privileged -e DISPLAY=${DISPLAY} -e LINES=`tput lines` -it ${containerid} bash
 xhost -