Merge branch 'M1chaelM/rocker_support' into 'jessica/mwes' so we can …

…test server and competitor image together
osrf · Jun 22, 2023 · 437f4cd · 437f4cd
2 parents 790c7ee + 4ac35d4
commit 437f4cd
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diff --git a/run_trial.bash b/run_trial.bash
@@ -107,10 +107,10 @@ else
 fi
 
 COMP_GENERATED_DIR=${DIR}/generated/task_generated/${TASK_NAME}
-if [ -f "${COMP_GENERATED_DIR}/worlds/${TASK_NAME}${TRIAL_NUM}.world" ]; then
-  echo "Successfully found: ${COMP_GENERATED_DIR}/worlds/${TASK_NAME}${TRIAL_NUM}.world"
+if [ -f "${COMP_GENERATED_DIR}/worlds/${TASK_NAME}${TRIAL_NUM}.sdf" ]; then
+  echo "Successfully found: ${COMP_GENERATED_DIR}/worlds/${TASK_NAME}${TRIAL_NUM}.sdf"
 else
-  echo -e "${RED}Err: ${COMP_GENERATED_DIR}/worlds/${TASK_NAME}${TRIAL_NUM}.world not found."; exit 1;
+  echo -e "${RED}Err: ${COMP_GENERATED_DIR}/worlds/${TASK_NAME}${TRIAL_NUM}.sdf not found."; exit 1;
 fi
 
 # Ensure any previous containers are killed and removed.

diff --git a/vrx_server/build_image.bash b/vrx_server/build_image.bash
@@ -19,54 +19,39 @@ NOCOLOR='\033[0m'
 # Get directory of this file
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
 
-# Setup docker args
-USERID=`id -u`
-GROUPID=`id -g`
-if [[ ${USERID} != 0 ]]; then
-  DOCKER_ARGS="--build-arg USERID=${USERID} --build-arg GROUPID=${GROUPID}"
-fi
+# Parse arguments
+local_base_name="vrx-local-base"
+image_name="vrx-server-jammy"
 
+DOCKER_ARGS="--build-arg BASEIMG=$local_base_name"
 # DOCKER_ARGS="$DOCKER_ARGS --no-cache"
+JOY=/dev/input/js0
 
-# Parse arguments
-BUILD_BASE=""
-image_name="vrx-server-noetic"
-
-# Parse args related to NVIDIA
-POSITIONAL=()
-while [[ $# -gt 0 ]]
-do
-    key="$1"
-
-    case $key in
-        -n|--nvidia)
-        BUILD_BASE="--build-arg BASEIMG=nvidia/opengl:1.0-glvnd-devel-ubuntu20.04"
-        image_name="$image_name-nvidia"
-        shift
-        ;;
-        *)    # unknown option
-        POSITIONAL+=("$1")
-        shift
-        ;;
-    esac
-done
 
 set -- "${POSITIONAL[@]}"
 
 # Usage
 if [ $# -gt 0 ]
 then
-    echo "Usage: $0 [-n --nvidia]"
+    echo "Usage: $0 "
     exit 1
 fi
 
+ROCKER_ARGS="--dev-helpers --devices $JOY --nvidia --x11 --user --user-override-name=developer  --image-name $local_base_name"
+rocker ${ROCKER_ARGS} npslearninglab/watery_robots:vrx_base "echo -e '${GREEN}Created $local_base_name.${NOCOLOR}\n'"
+
+CONTAINER_NAME="vrx-server-system"
+
 # Build image
-echo "Build image: $image_name"
+echo "Building image: <${image_name}> from <$local_base_name>"
 set -x
-image_plus_tag=$image_name:$(export LC_ALL=C; date +%Y_%m_%d_%H%M)
-docker build --force-rm ${DOCKER_ARGS} --tag $image_plus_tag --build-arg USER=$USER --build-arg GROUP=$USER $BUILD_BASE $DIR/vrx-server && \
-docker tag $image_plus_tag $image_name:latest && \
-echo "Built $image_plus_tag and tagged as $image_name:latest"
+image_plus_tag=${image_name}:$(export LC_ALL=C; date +%Y_%m_%d_%H%M)
+docker build --force-rm ${DOCKER_ARGS} --tag $image_plus_tag $DIR/vrx-server && \
+docker tag $image_plus_tag ${image_name}:latest && \
+echo "Built $image_plus_tag and tagged as ${image_name}:latest"
+
+#echo "Using image <$IMG_NAME> to start container <$CONTAINER_NAME>"
+# --name $CONTAINER_NAME
+
 
 set +x
-echo -e "${GREEN}Done.${NOCOLOR}\n"
diff --git a/vrx_server/run_container.bash b/vrx_server/run_container.bash
@@ -36,6 +36,7 @@ do
       ;;
       *)    # unknown option
       POSITIONAL+=("$1")
+[ruby $(which gz) sim-1] qt.qpa.plugin: Could not load the Qt platform plugin "xcb" in "" even though it was found.
       shift
       ;;
   esac
@@ -45,6 +46,7 @@ set -- "${POSITIONAL[@]}"
 
 if [[ $# -lt 2 ]] 
 then
+[ruby $(which gz) sim-1] qt.qpa.plugin: Could not load the Qt platform plugin "xcb" in "" even though it was found.
     echo "Usage: $0 [-n --nvidia] <container_name> <image_name> [<docker_extra_args> <command>]"
     exit 1
 fi
@@ -56,36 +58,31 @@ COMMAND=$4
 
 # 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
+XAUTH=/tmp/.dockervrx.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
+    touch $XAUTH
 fi
-
-USERID=$(id -u)
-GROUPID=$(id -g)
+xauth_list=$(xauth nlist $DISPLAY | sed -e 's/^..../ffff/')
+if [ ! -z "$xauth_list" ]
+then
+    echo $xauth_list | xauth -f $XAUTH nmerge -
+fi
+chmod a+r $XAUTH
 
 docker run --name ${CONTAINER} \
+  -e DISPLAY \
+  -e TERM \
+  -e QT_X11_NO_MITSHM=1 \
   -e XAUTHORITY=$XAUTH \
-  --env="DISPLAY" \
-  --env="QT_X11_NO_MITSHM=1" \
   -v "$XAUTH:$XAUTH" \
   -v "/tmp/.X11-unix:/tmp/.X11-unix" \
   -v "/etc/localtime:/etc/localtime:ro" \
-  -v "/tmp/.docker.xauth:/tmp/.docker.xauth" \
   -v /dev/log:/dev/log \
   -v "/dev/input:/dev/input" \
-  --runtime=$RUNTIME \
+  --gpus all \
   --privileged \
   --security-opt seccomp=unconfined \
-  -u $USERID:$GROUPID \
   ${DOCKER_EXTRA_ARGS} \
   ${IMAGE_NAME} \
 ${COMMAND}

diff --git a/vrx_server/vrx-server/Dockerfile b/vrx_server/vrx-server/Dockerfile
@@ -1,144 +1,27 @@
-ARG BASEIMG=ubuntu:focal
+ARG BASEIMG=npslearninglab/watery_robots:vrx_base
 FROM $BASEIMG
 
 # Set ROS distribution
-ARG DIST=noetic
-
-# Set Gazebo verison
-ARG GAZ=gazebo11
-
-RUN export DEBIAN_FRONTEND=noninteractive \
- && apt update \
- && apt install -y \
-    tzdata \
- && ln -fs /usr/share/zoneinfo/America/Los_Angeles /etc/localtime \
- && dpkg-reconfigure --frontend noninteractive tzdata \
- && apt clean
-
-# Tools useful during development.
- RUN apt update \
-  && apt install -y \
-         build-essential \
-         cmake \
-         cppcheck \
-         curl \
-         git \
-         language-pack-en \
-         libeigen3-dev \
-         libgles2-mesa-dev \
-         lsb-release \
-         gdb \
-         mercurial \
-         pkg-config \
-         psmisc \
-         python3-dbg \
-         python3-pip \
-         python3-venv \
-         qtbase5-dev \
-         ruby \
-         software-properties-common \
-         sudo \
-         vim \
-         wget \
-  && apt clean
-
-# Get ROS and Gazebo
-RUN wget -P /tmp/ http://packages.osrfoundation.org/gazebo.key
-RUN wget -P /tmp/ http://packages.ros.org/ros.key
-RUN /bin/sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' \
- && apt-key add /tmp/ros.key \
- && /bin/sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" > /etc/apt/sources.list.d/gazebo-stable.list' \
- && apt-key add /tmp/gazebo.key \
- && apt update \
- && apt install -y \
-    ${GAZ} \
-    lib${GAZ}-dev \
-    ros-${DIST}-compressed-image-transport \
-    ros-${DIST}-ros-base \
-    ros-${DIST}-gazebo-plugins \
-    ros-${DIST}-gazebo-ros \
-    ros-${DIST}-hector-gazebo-plugins \
-    ros-${DIST}-joy \
-    ros-${DIST}-joy-teleop \
-    ros-${DIST}-key-teleop \
-    ros-${DIST}-robot-localization \
-    ros-${DIST}-robot-state-publisher \
-    ros-${DIST}-rviz \
-    ros-${DIST}-teleop-tools \
-    ros-${DIST}-teleop-twist-keyboard \
-    ros-${DIST}-velodyne-simulator \
-    ros-${DIST}-xacro \
- && apt clean
-
-# Removed
-#    python-rosdep \
-# && rosdep init \
-# RUN rosdep update
-
-# Set USER and GROUP
-ARG USER=developer
-ARG GROUP=developer
-ARG USERID=1000
-ARG GROUPID=1000
-
-# Add a user with the same user_id as the user outside the container
-# Requires a docker build argument `user_id`.
-
-RUN curl -SsL https://github.com/boxboat/fixuid/releases/download/v0.4/fixuid-0.4-linux-amd64.tar.gz | tar -C /usr/local/bin -xzf - && \
-    chown root:root /usr/local/bin/fixuid && \
-    chmod 4755 /usr/local/bin/fixuid && \
-    mkdir -p /etc/fixuid && \
-    printf "user: $USER\ngroup: $GROUP\n" > /etc/fixuid/config.yml
-
-RUN addgroup --gid $GROUPID $USER && \
-    useradd --no-log-init --create-home --uid $USERID --gid $GROUPID --home-dir /home/$USER --shell /bin/sh -c "" $USER
-
-RUN adduser $USER sudo \
- && echo "$USER ALL=NOPASSWD: ALL" >> /etc/sudoers.d/$USER
-
-# Commands below run as the developer user.
-USER $USER:$GROUP
-
-# When running a container start in the developer's home folder.
-WORKDIR /home/$USER
+ARG ROSDIST=humble
 
 # Create workspace
-RUN mkdir -p vrx_ws/src
+RUN mkdir -p ~/vrx_ws/src
 
-# Copy the VRX repository from the local file system
-# We can't use the USER:GROUP variables until Docker adds support to --chown
-# COPY --chown=developer:developer . vrx_ws/src/vrx/
-RUN git clone -b 1.6.2 https://github.com/osrf/vrx.git 
-RUN mv ./vrx ./vrx_ws/src
+# TODO: restore version tag
+RUN git clone https://github.com/osrf/vrx.git \
+&& mv ./vrx ~/vrx_ws/src
 
 # Compile the VRX project.
-RUN /bin/bash -c ". /opt/ros/${DIST}/setup.bash && cd vrx_ws && catkin_make"
+RUN /bin/bash -c ". /opt/ros/${ROSDIST}/setup.bash && cd ~/vrx_ws && colcon build --merge-install"
 
 # Source all the needed environment files.
-RUN /bin/sh -c 'echo ". /opt/ros/${DIST}/setup.bash" >> ~/.bashrc' \
- && /bin/sh -c 'echo ". /usr/share/gazebo/setup.sh" >> ~/.bashrc' \
- && /bin/sh -c 'echo ". ~/vrx_ws/devel/setup.sh" >> ~/.bashrc'
+RUN /bin/sh -c 'echo ". /opt/ros/${ROSDIST}/setup.bash" >> ~/.bashrc' \
+ && /bin/sh -c 'echo ". ~/vrx_ws/install/setup.sh" >> ~/.bashrc'
 ## END OF SECTION BASED ON vrx/docker/Dockerfile
 
 # Expose port used to communiate with gzserver
 EXPOSE 11345
 
-# Stuff for nvidia-docker
-LABEL com.nvidia.volumes.needed="nvidia_driver"
-ENV PATH /usr/local/nvidia/bin:${PATH}
-ENV LD_LIBRARY_PATH /usr/local/nvidia/lib:/usr/local/nvidia/lib64:${LD_LIBRARY_PATH}
-
-# Set encoding to use unicode characters
-# RUN sudo locale-gen en_US.UTF-8
-ENV LANG en_US.UTF-8
-
-# Takes too long to do, probably not needed
-# Get gazebo models early since it is big
-# RUN wget -P /tmp/ https://bitbucket.org/osrf/gazebo_models/get/default.tar.gz \
-#  && mkdir -p $HOME/.gazebo/models \
-#  && tar -xvf /tmp/default.tar.gz -C $HOME/.gazebo/models --strip 1 \
-#  && rm /tmp/default.tar.gz
-
 # setup entrypoint
 COPY ./vrx_entrypoint.sh /
 COPY ./run_vrx_trial.sh /

diff --git a/vrx_server/vrx-server/vrx_entrypoint.sh b/vrx_server/vrx-server/vrx_entrypoint.sh
@@ -1,14 +1,11 @@
 #!/bin/bash
 set -e
 
-# first, execute overriden entrypoint from gazebo
-source "/usr/share/gazebo/setup.sh"
-
 # setup ros environment.
-source "/opt/ros/noetic/setup.bash" > /dev/null
+source "/opt/ros/humble/setup.bash" > /dev/null
 
 # setup vrx environment
-source ~/vrx_ws/devel/setup.sh
+source ~/vrx_ws/install/setup.sh
 echo "vrx entrypoint executed"
 
 # TODO: optionally disable this so a gzclient can be run on the host for development.