Update docker compose for GPU

[MikeWrock]

It seems that on my machine the instructions do not enable GPU support. Following them (uncommenting the docker-compose.yaml lines and moveit_pro building) I am unable to run nvidia-smi inside the container and no GPUs are found, but I do see the stage in which the nvidia drivers are installed when the image is built. If I leave the docker-compose file as it in in this PR (with the lines uncommented), I don't have to build anything differently and I can run nvidia-smi or nvtop and see my GPU is in use

[dsobek]

Could you also revert the Dockerfile changes from #42?

[nbbrooks]

IGNORE THIS - I was trying to test 2 PRs at once and clobbered the uncommenting changes I needed in the docker-compose.yaml here

=====

I checked 7.0 rc2, this branch of example_ws (with the gpu relevant lines uncommented), and built a new image.

lab_sim appears (to my eyes) to be running at a FPS (when dragging the visualization around dramatically) that indicates GPU acceleration is happening.

However, I cannot run nvidia smi in a pro shell (appears to be expected behavior) and when I run it on my host

$ nvidia-smi
Thu Jan  2 13:05:18 2025       
+---------------------------------------------------------------------------------------+
| NVIDIA-SMI 535.183.01             Driver Version: 535.183.01   CUDA Version: 12.2     |
|-----------------------------------------+----------------------+----------------------+
| GPU  Name                 Persistence-M | Bus-Id        Disp.A | Volatile Uncorr. ECC |
| Fan  Temp   Perf          Pwr:Usage/Cap |         Memory-Usage | GPU-Util  Compute M. |
|                                         |                      |               MIG M. |
|=========================================+======================+======================|
|   0  NVIDIA GeForce GTX 1660        Off | 00000000:1D:00.0  On |                  N/A |
|  0%   44C    P5              15W / 130W |   2575MiB /  6144MiB |     29%      Default |
|                                         |                      |                  N/A |
+-----------------------------------------+----------------------+----------------------+
                                                                                         
+---------------------------------------------------------------------------------------+
| Processes:                                                                            |
|  GPU   GI   CI        PID   Type   Process name                            GPU Memory |
|        ID   ID                                                             Usage      |
|=======================================================================================|
|    0   N/A  N/A      2308      G   /usr/lib/xorg/Xorg                         1140MiB |
|    0   N/A  N/A      2672      G   /usr/bin/gnome-shell                        333MiB |
|    0   N/A  N/A    318278      G   ...irefox/5361/usr/lib/firefox/firefox      233MiB |
|    0   N/A  N/A   1325487      G   ...erProcess --variations-seed-version      133MiB |
|    0   N/A  N/A   1325556      G   ...seed-version=20241225-174432.450000      730MiB |
+---------------------------------------------------------------------------------------+

The last two processes are VSCode and Chrome (ps -p PID).

None of those processes correspond to what I expected - I'm used to seeing a ros2_control process (which is running mujoco) listed in my old workflow where I manually install the nvidia driver in the container.

Should I be seeing the ros2_control process show up?

[nbbrooks]

ok I built again with 7.0 rc2 and this branch (uncommented the gpu section). run fails

$ moveit_pro run -v
Running MoveIt Pro with Configuration: lab_sim
Starting services: ['drivers', 'agent_bridge', 'web_ui']
  - drivers
  - agent_bridge
  - web_ui
Waiting for MoveIt Pro to start.
[+] Running 4/3
 ✔ Container moveit_pro-web_ui-1                                     Created                                                                                                                                           0.4s 
 ✔ Container moveit_pro-agent_bridge-1                               Created                                                                                                                                           0.4s 
 ✔ Container moveit_pro-drivers-1                                    Created                                                                                                                                           0.4s 
 ! web_ui Published ports are discarded when using host network mode                                                                                                                                                   0.0s 
Attaching to agent_bridge-1, drivers-1, web_ui-1
web_ui-1        | /docker-entrypoint.sh: /docker-entrypoint.d/ is not empty, will attempt to perform configuration
web_ui-1        | /docker-entrypoint.sh: Looking for shell scripts in /docker-entrypoint.d/
web_ui-1        | /docker-entrypoint.sh: Launching /docker-entrypoint.d/10-listen-on-ipv6-by-default.sh
web_ui-1        | 10-listen-on-ipv6-by-default.sh: info: Getting the checksum of /etc/nginx/conf.d/default.conf
web_ui-1        | 10-listen-on-ipv6-by-default.sh: info: /etc/nginx/conf.d/default.conf differs from the packaged version
web_ui-1        | /docker-entrypoint.sh: Launching /docker-entrypoint.d/20-envsubst-on-templates.sh
web_ui-1        | /docker-entrypoint.sh: Launching /docker-entrypoint.d/30-tune-worker-processes.sh
web_ui-1        | /docker-entrypoint.sh: Configuration complete; ready for start up
web_ui-1        | 2025/01/02 20:15:27 [notice] 1#1: using the "epoll" event method
web_ui-1        | 2025/01/02 20:15:27 [notice] 1#1: nginx/1.23.1
web_ui-1        | 2025/01/02 20:15:27 [notice] 1#1: built by gcc 10.2.1 20210110 (Debian 10.2.1-6) 
web_ui-1        | 2025/01/02 20:15:27 [notice] 1#1: OS: Linux 6.8.0-49-generic
web_ui-1        | 2025/01/02 20:15:27 [notice] 1#1: getrlimit(RLIMIT_NOFILE): 1048576:1048576
web_ui-1        | 2025/01/02 20:15:27 [notice] 1#1: start worker processes
web_ui-1        | 2025/01/02 20:15:27 [notice] 1#1: start worker process 30
web_ui-1        | 2025/01/02 20:15:27 [notice] 1#1: start worker process 31
web_ui-1        | 2025/01/02 20:15:27 [notice] 1#1: start worker process 32
web_ui-1        | 2025/01/02 20:15:27 [notice] 1#1: start worker process 33
web_ui-1        | 2025/01/02 20:15:27 [notice] 1#1: start worker process 34
web_ui-1        | 2025/01/02 20:15:27 [notice] 1#1: start worker process 35
web_ui-1        | 2025/01/02 20:15:27 [notice] 1#1: start worker process 36
web_ui-1        | 2025/01/02 20:15:27 [notice] 1#1: start worker process 37
web_ui-1        | 2025/01/02 20:15:27 [notice] 1#1: start worker process 38
web_ui-1        | 2025/01/02 20:15:27 [notice] 1#1: start worker process 39
web_ui-1        | 2025/01/02 20:15:27 [notice] 1#1: start worker process 40
web_ui-1        | 2025/01/02 20:15:27 [notice] 1#1: start worker process 41
web_ui-1        | 2025/01/02 20:15:27 [notice] 1#1: start worker process 42
web_ui-1        | 2025/01/02 20:15:27 [notice] 1#1: start worker process 43
web_ui-1        | 2025/01/02 20:15:27 [notice] 1#1: start worker process 44
web_ui-1        | 2025/01/02 20:15:27 [notice] 1#1: start worker process 45
Gracefully stopping... (press Ctrl+C again to force)
Error response from daemon: could not select device driver "nvidia" with capabilities: [[gpu]]

MoveIt Pro shutdown initiated...

[+] Running 4/3
 ✔ Container moveit_pro-web_ui-1         Removed                                                                                                                                                                       1.8s 
 ✔ Container moveit_pro-agent_bridge-1   Removed                                                                                                                                                                       0.4s 
 ✔ Container moveit_pro-drivers-1        Removed                                                                                                                                                                       1.7s 
 ✔ Volume moveit_pro_ignition_resources  Removed             

[MikeWrock]

@nbbrooks You might need nvidia toolkit installed

sudo apt-get update
sudo apt-get install -y nvidia-container-toolkit
sudo systemctl restart docker

Test with:

docker run --rm --runtime=nvidia --gpus all ubuntu nvidia-smi   

[MikeWrock]

@dsobek this is probably why @nbbrooks had docker build issues

[dsobek]

Yeah that seems likely.