From 945e993acbe4485e44e558214a4fed910d60e2c9 Mon Sep 17 00:00:00 2001 From: Jasmeet Singh Date: Sun, 8 Sep 2024 22:59:38 +0530 Subject: [PATCH] Added Dockerfile, build.sh & run.sh scripts (#46) Signed-off-by: Jasmeet Singh --- custom_gz_plugins/Dockerfile | 108 +++++++++++++++ custom_gz_plugins/build.sh | 22 +++ .../dependencies_source_pkgs.repos | 126 ++++++++++++++++++ custom_gz_plugins/entrypoint.sh | 6 + custom_gz_plugins/run.sh | 36 +++++ 5 files changed, 298 insertions(+) create mode 100644 custom_gz_plugins/Dockerfile create mode 100755 custom_gz_plugins/build.sh create mode 100644 custom_gz_plugins/dependencies_source_pkgs.repos create mode 100755 custom_gz_plugins/entrypoint.sh create mode 100755 custom_gz_plugins/run.sh diff --git a/custom_gz_plugins/Dockerfile b/custom_gz_plugins/Dockerfile new file mode 100644 index 00000000..ffbd0d87 --- /dev/null +++ b/custom_gz_plugins/Dockerfile @@ -0,0 +1,108 @@ +# Copyright 2024 Open Source Robotics Foundation, Inc. +# +# 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. +# +# A Docker configuration script to build the Space ROS image. +# +# The script provides the following build arguments: +# +# VCS_REF - The git revision of the Space ROS source code (no default value). +# VERSION - The version of Space ROS (default: "preview") + +FROM osrf/space-ros:latest + +# Define arguments used in the metadata definition +ARG VCS_REF +ARG VERSION="preview" + +# Specify the docker image metadata +LABEL org.label-schema.schema-version="1.0" +LABEL org.label-schema.name="Real World Extraterrestrial Simulations" +LABEL org.label-schema.description="Realistic Extraterrestrial Simulations demos using custom GZ plugins & data from NASA PDS" +LABEL org.label-schema.vendor="Open Robotics" +LABEL org.label-schema.version=${VERSION} +LABEL org.label-schema.url="https://github.com/space-ros" +LABEL org.label-schema.vcs-url="https://github.com/space-ros/docker" +LABEL org.label-schema.vcs-ref=${VCS_REF} + +# Define a few key variables +ENV DEMO_DIR=${HOME_DIR}/demos_ws +ENV GZ_VERSION=harmonic + +# Disable prompting during package installation +ARG DEBIAN_FRONTEND=noninteractive + +# Clone all space-ros sources +RUN mkdir ${SPACEROS_DIR}/src \ + && vcs import ${SPACEROS_DIR}/src < ${SPACEROS_DIR}/exact.repos + +# Make sure the latest versions of packages are installed +# Using Docker BuildKit cache mounts for /var/cache/apt and /var/lib/apt ensures that +# the cache won't make it into the built image but will be maintained between steps. +RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ + --mount=type=cache,target=/var/lib/apt,sharing=locked \ + sudo apt-get update +RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ + --mount=type=cache,target=/var/lib/apt,sharing=locked \ + sudo apt-get dist-upgrade -y +RUN rosdep update + +# Get rosinstall_generator +# Using Docker BuildKit cache mounts for /var/cache/apt and /var/lib/apt ensures that +# the cache won't make it into the built image but will be maintained between steps. +RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ + --mount=type=cache,target=/var/lib/apt,sharing=locked \ + sudo apt-get update -y && sudo apt-get install -y python3-rosinstall-generator + +RUN mkdir -p ${DEMO_DIR}/src +WORKDIR ${DEMO_DIR} + +# Install libmongoc for development +RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ + --mount=type=cache,target=/var/lib/apt,sharing=locked \ + sudo apt-get install libmongoc-dev -y + +# Compile mongo cxx driver https://mongocxx.org/mongocxx-v3/installation/linux/ +RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ + --mount=type=cache,target=/var/lib/apt,sharing=locked \ + sudo apt-get install libssl-dev build-essential devscripts debian-keyring fakeroot debhelper cmake libboost-dev libsasl2-dev libicu-dev libzstd-dev doxygen -y +RUN wget https://github.com/mongodb/mongo-cxx-driver/releases/download/r3.6.7/mongo-cxx-driver-r3.6.7.tar.gz +RUN tar -xzf mongo-cxx-driver-r3.6.7.tar.gz +RUN cd mongo-cxx-driver-r3.6.7/build && cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local && sudo cmake --build . --target EP_mnmlstc_core && cmake --build . && sudo cmake --build . --target install + +# Add osrf packages repository and manually install gz sim harmonic dependecies as they haven't been added to the rosdep index as of yet +RUN sudo curl https://packages.osrfoundation.org/gazebo.gpg --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg +RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null +RUN sudo apt-get update && sudo apt-get install -y libgz-math7-dev libgz-transport13-dev libgz-sim8-dev libgz-msgs10-dev libgz-plugin2-dev + +# Get the source for the dependencies +COPY --chown=${USERNAME}:${USERNAME} dependencies_source_pkgs.repos /tmp/ +RUN vcs import src < /tmp/dependencies_source_pkgs.repos && /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' + +RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \ +--mount=type=cache,target=/var/lib/apt,sharing=locked \ +sudo apt-get update -y \ +&& /bin/bash -c 'source "${SPACEROS_DIR}/install/setup.bash"' \ +&& rosdep install --from-paths ${SPACEROS_DIR}/src src --ignore-src -r -y --rosdistro ${ROSDISTRO} --skip-keys "console_bridge generate_parameter_library fastcdr fastrtps rti-connext-dds-5.3.1 urdfdom_headers rmw_connextdds ros_testing rmw_connextdds rmw_fastrtps_cpp rmw_fastrtps_dynamic_cpp composition demo_nodes_py lifecycle rosidl_typesupport_fastrtps_cpp rosidl_typesupport_fastrtps_c ikos diagnostic_aggregator diagnostic_updater joy qt_gui rqt_gui rqt_gui_py" + +# Build the demo +RUN /bin/bash -c 'source ${SPACEROS_DIR}/install/setup.bash \ + && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release' + +# Add the user to the render group so that the user can access /dev/dri/renderD128 +RUN sudo usermod -aG render $USERNAME + +# Setup the entrypoint +COPY ./entrypoint.sh / +ENTRYPOINT ["/entrypoint.sh"] +CMD ["bash"] diff --git a/custom_gz_plugins/build.sh b/custom_gz_plugins/build.sh new file mode 100755 index 00000000..dc014cdb --- /dev/null +++ b/custom_gz_plugins/build.sh @@ -0,0 +1,22 @@ +#!/usr/bin/env bash + +ORG=spaceros +IMAGE=custom_sim_custom_plugins_demo +TAG=latest + +VCS_REF="" +VERSION=preview + +# Exit script with failure if build fails +set -eo pipefail + +echo "" +echo "##### Building Docker Image #####" +echo "" + +docker build -t $ORG/$IMAGE:$TAG \ + --build-arg VCS_REF="$VCS_REF" \ + --build-arg VERSION="$VERSION" . + +echo "" +echo "##### Done! #####" diff --git a/custom_gz_plugins/dependencies_source_pkgs.repos b/custom_gz_plugins/dependencies_source_pkgs.repos new file mode 100644 index 00000000..e7217510 --- /dev/null +++ b/custom_gz_plugins/dependencies_source_pkgs.repos @@ -0,0 +1,126 @@ +repositories: + demos: + type: git + url: https://github.com/jasmeet0915/demos + version: jasmeet/custom_gz_plugins_pkg + realtime_tools: + type: git + url: https://github.com/ros-controls/realtime_tools.git + version: master + ros2_control: + type: git + url: https://github.com/ros-controls/ros2_control.git + version: humble + ackermann_msgs: + type: git + url: https://github.com/ros-drivers/ackermann_msgs.git + version: ros2 + resource_retriever: + type: git + url: https://github.com/ros/resource_retriever.git + version: humble + angles: + type: git + url: https://github.com/ros/angles.git + version: humble-devel + control_toolbox: + type: git + url: https://github.com/ros-controls/control_toolbox.git + version: ros2-master + control_msgs: + type: git + url: https://github.com/ros-controls/control_msgs.git + version: humble + gz_ros2_control: + type: git + url: https://github.com/jasmeet0915/gz_ros2_control.git + version: jasmeet/humble_harmonic_support + backward_ros: + type: git + url: https://github.com/pal-robotics/backward_ros.git + version: foxy-devel + qt_gui_core: + type: git + url: https://github.com/ros-visualization/qt_gui_core.git + version: humble + python_qt_binding: + type: git + url: https://github.com/ros-visualization/python_qt_binding.git + version: humble + ros2_controllers: + type: git + url: https://github.com/tonylitianyu/ros2_controllers.git + version: effort_group_position_controller_2 + actuator_msgs: + type: git + url: https://github.com/rudislabs/actuator_msgs.git + version: main + filters: + type: git + url: https://github.com/ros/filters.git + version: ros2 + rviz: + type: git + url: https://github.com/ros2/rviz.git + version: humble + ros_gz: + type: git + url: https://github.com/gazebosim/ros_gz.git + version: humble + generate_parameter_library: + type: git + url: https://github.com/PickNikRobotics/generate_parameter_library.git + version: main + joint_state_publisher: + type: git + url: https://github.com/ros/joint_state_publisher.git + version: ros2 + rsl: + type: git + url: https://github.com/PickNikRobotics/RSL.git + version: main + cpp_polyfills: + type: git + url: https://github.com/PickNikRobotics/cpp_polyfills.git + version: main + image_transport: + type: git + url: https://github.com/ros-perception/image_common.git + version: humble + interactive_markers: + type: git + url: https://github.com/ros-visualization/interactive_markers.git + version: humble + laser_geometry: + type: git + url: https://github.com/ros-perception/laser_geometry.git + version: humble + simulation: + type: git + url: https://github.com/jasmeet0915/simulation + version: real_data_planet_models + warehouse_ros: + type: git + url: https://github.com/moveit/warehouse_ros.git + version: ros2 + ros-humble-warehouse-ros-mongo: + type: git + url: https://github.com/ros-planning/warehouse_ros_mongo.git + version: ros2 + vision_msgs: + type: git + url: https://github.com/ros-perception/vision_msgs.git + version: ros2 + navigation_msgs: + type: git + url: https://github.com/ros-planning/navigation_msgs.git + version: humble + gps_msgs: + type: git + url: https://github.com/swri-robotics/gps_umd.git + path: gps_msgs + version: 113782d + yaml_cpp_vendor: + type: git + url: https://github.com/ros2/yaml_cpp_vendor.git + version: humble diff --git a/custom_gz_plugins/entrypoint.sh b/custom_gz_plugins/entrypoint.sh new file mode 100755 index 00000000..7f15d890 --- /dev/null +++ b/custom_gz_plugins/entrypoint.sh @@ -0,0 +1,6 @@ +#!/bin/bash +set -e + +# Setup the Demo environment +source "${SPACEROS_DIR}/install/setup.bash" +exec "$@" diff --git a/custom_gz_plugins/run.sh b/custom_gz_plugins/run.sh new file mode 100755 index 00000000..e99e07d8 --- /dev/null +++ b/custom_gz_plugins/run.sh @@ -0,0 +1,36 @@ +#!/bin/bash + +DOCKER_ARGS+=("-e NVIDIA_VISIBLE_DEVICES=all") +DOCKER_ARGS+=("-e NVIDIA_DRIVER_CAPABILITIES=all") + +xhost +local:root + +ORG=spaceros +IMAGE=custom_sim_custom_plugins_demo +TAG=latest + +container_name="space_ros_custom_gz_plugins_demo" + +ros_domain_id=$(printenv ROS_DOMAIN_ID) + +# Check if a Docker container with "$container_name" is already running. +# If it is running, open an interactive bash shell inside it. +# If the container is not running, create and run a new Docker container with specified configurations +if docker ps --format '{{.Names}}' | grep -q "$container_name"; then + docker exec -it "$container_name" /bin/bash +else + docker run -it --rm \ + ${DOCKER_ARGS[@]} \ + -e DISPLAY=$DISPLAY \ + -v $PWD/..:/workspaces/sim_ws/src \ + -v /var/run/docker.sock:/var/run/docker.sock \ + --name "$container_name" \ + --workdir /home/spaceros-user/demos_ws/src \ + --env ROS_DOMAIN_ID=$ros_domain_id \ + --runtime nvidia \ + --network host \ + -v /dev/input:/dev/input --device-cgroup-rule='c 13:* rmw' \ + $@ \ + $ORG/$IMAGE:$TAG \ + /bin/bash +fi