Cleaned up Dockerfile and added new user entrypoints

Robotic-Decision-Making-Lab · Oct 12, 2023 · 9b60032 · 9b60032
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commit 9b60032
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diff --git a/.devcontainer/nvidia/devcontainer.json b/.devcontainer/nvidia/devcontainer.json
@@ -6,7 +6,7 @@
       "WORKSPACE": "${containerWorkspaceFolder}",
       "ROS_DISTRO": "rolling"
     },
-    "target": "develop-nvidia"
+    "target": "desktop-nvidia"
   },
   "remoteUser": "blue",
   "runArgs": [

diff --git a/.docker/Dockerfile b/.docker/Dockerfile
@@ -1,24 +1,16 @@
-##############################################
-# ci: Install core dependencies needed for CI
-##############################################
 ARG ROS_DISTRO=rolling
 FROM ros:$ROS_DISTRO-ros-base as ci
 
-LABEL maintainer="Evan Palmer"
-LABEL maintainer-email="[email protected]"
-
 ENV DEBIAN_FRONTEND=noninteractive
-WORKDIR /root/ws_blue
 
+WORKDIR /root/ws_blue
 COPY . src/blue
 
-# Install apt packages
+# Install apt packages needed for CI
 RUN apt-get -q update \
     && apt-get -q -y upgrade \
     && apt-get -q install --no-install-recommends -y \
     git \
-    wget \
-    curl \
     sudo \
     clang \
     clang-format-14 \
@@ -31,25 +23,6 @@ RUN apt-get -q update \
     && apt-get clean -y \
     && rm -rf /var/lib/apt/lists/*
 
-# Install the Python requirements that aren't available as rosdeps
-RUN python3 -m pip install -r $(pwd)/src/blue/requirements-build.txt
-
-# Install gstreamer
-RUN apt-get -q update \
-    && apt-get -q -y upgrade \
-    && apt-get -q install --no-install-recommends -y \
-    python3-gi \
-    gstreamer1.0-tools \
-    gir1.2-gstreamer-1.0 \
-    gir1.2-gst-plugins-base-1.0 \
-    gstreamer1.0-plugins-good \
-    gstreamer1.0-plugins-ugly \
-    gstreamer1.0-plugins-bad \
-    gstreamer1.0-libav \
-    && apt-get autoremove -y \
-    && apt-get clean -y \
-    && rm -rf /var/lib/apt/lists/*
-
 # Install all ROS dependencies
 RUN apt-get -q update \
     && apt-get -q -y upgrade \
@@ -60,6 +33,8 @@ RUN apt-get -q update \
     && apt-get clean -y \
     && rm -rf /var/lib/apt/lists/*
 
+FROM ci as robot
+
 # Configure a new non-root user
 ARG USERNAME=blue
 ARG USER_UID=1000
@@ -69,51 +44,95 @@ RUN groupadd --gid $USER_GID $USERNAME \
     && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \
     && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
     && chmod 0440 /etc/sudoers.d/$USERNAME \
+    && usermod -a -G dialout $USERNAME \
     && echo "source /usr/share/bash-completion/completions/git" >> /home/$USERNAME/.bashrc
 
-# Switch to the non-root user to install MAVROS dependencies
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Switch to the non-root user for the rest of the installation.
+# We do this to avoid any conflicts with user permissions
 USER $USERNAME
 ENV USER=$USERNAME
 
+# Install some core apt packages
+RUN sudo apt-get -q update \
+    && sudo apt-get -q -y upgrade \
+    && sudo apt-get -q install --no-install-recommends -y \
+    lsb-release \
+    wget \
+    gnupg \
+    && sudo apt-get autoremove -y \
+    && sudo apt-get clean -y \
+    && sudo rm -rf /var/lib/apt/lists/*
+
 # Install MAVROS dependencies
 WORKDIR /home/$USERNAME
 RUN wget https://raw.githubusercontent.com/mavlink/mavros/ros2/mavros/scripts/install_geographiclib_datasets.sh \
     && chmod +x install_geographiclib_datasets.sh \
     && sudo ./install_geographiclib_datasets.sh
 
-# Switch back to root user
-USER root
-ENV USER=root
+# Copy the project over to image
+ENV USER_WORKSPACE=/home/$USERNAME/ws_blue
+WORKDIR $USER_WORKSPACE
+COPY --chown=$USER_UID:$USER_GID . src/blue
 
-#################################################################
-# sim: install Gazebo and the tools needed for Gazebo simulation
-#################################################################
-FROM ci as sim
+# Install the Python requirements that aren't available as rosdeps
+RUN python3 -m pip install -r $(pwd)/src/blue/requirements-build.txt
+
+# Install gstreamer
+RUN sudo apt-get -q update \
+    && sudo apt-get -q -y upgrade \
+    && sudo apt-get -q install --no-install-recommends -y \
+    python3-gi \
+    gstreamer1.0-tools \
+    gir1.2-gstreamer-1.0 \
+    gir1.2-gst-plugins-base-1.0 \
+    gstreamer1.0-plugins-good \
+    gstreamer1.0-plugins-ugly \
+    gstreamer1.0-plugins-bad \
+    gstreamer1.0-libav \
+    && sudo apt-get autoremove -y \
+    && sudo apt-get clean -y \
+    && sudo rm -rf /var/lib/apt/lists/*
+
+# Install all ROS dependencies
+RUN sudo apt-get -q update \
+    && sudo apt-get -q -y upgrade \
+    && rosdep update \
+    && rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} \
+    && sudo apt-get autoremove -y \
+    && sudo apt-get clean -y \
+    && sudo rm -rf /var/lib/apt/lists/*
+
+# Setup the environment variables
+RUN echo "source ${USER_WORKSPACE}/install/setup.bash" >> /home/$USERNAME/.bashrc \
+    && echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /home/$USERNAME/.bashr
+
+FROM robot as desktop
+
+ENV DEBIAN_FRONTEND=noninteractive
+ENV GZ_VERSION=garden
 
 # Install Gazebo Garden: https://gazebosim.org/docs/garden/install_ubuntu
-RUN wget https://packages.osrfoundation.org/gazebo.gpg -O /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 $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
-RUN apt-get update \
-    && apt-get -y --quiet --no-install-recommends install \
+RUN sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg \
+    && echo "deb [arch=$(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 \
+    && sudo apt-get update \
+    && sudo apt-get -y --quiet --no-install-recommends install \
     gz-garden \
-    && apt-get autoremove -y \
-    && apt-get clean -y \
-    && rm -rf /var/lib/apt/lists/*
+    && sudo apt-get autoremove -y \
+    && sudo apt-get clean -y \
+    && sudo rm -rf /var/lib/apt/lists/*
 
 # Install ArduPilot and ardupilot_gazebo dependencies
-RUN apt-get -q update \
-    && apt-get -q -y upgrade \
-    && apt-get -q install --no-install-recommends -y \
+RUN sudo apt-get -q update \
+    && sudo apt-get -q -y upgrade \
+    && sudo apt-get -q install --no-install-recommends -y \
     python3-wxgtk4.0 \
     rapidjson-dev \
     xterm \
-    && apt-get autoremove -y \
-    && apt-get clean -y \
-    && rm -rf /var/lib/apt/lists/*
-
-# Switch to the non-root user to install ArduSub
-USER $USERNAME
-ENV USER=$USERNAME
+    && sudo apt-get autoremove -y \
+    && sudo apt-get clean -y \
+    && sudo rm -rf /var/lib/apt/lists/*
 
 # Clone ArduSub
 # ArduSub is installed for simulation purposes ONLY
@@ -144,152 +163,43 @@ RUN [ "/bin/bash" , "-c" , " \
     && cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo \
     && make -j4" ]
 
-# Switch back to the root user
-USER root
-ENV USER=root
-
-# Extend the ros_entrypoint to source the simulation environment
-COPY .docker/entrypoints/sim.sh /
-RUN sed -i '/source "\/opt\/ros\/$ROS_DISTRO\/setup\.bash" --/a source /sim.sh' /ros_entrypoint.sh
-
-##################################################
-# deps: Install all external project dependencies
-##################################################
-FROM sim as deps
-
-ENV GZ_VERSION=garden
-ENV USER_WORKSPACE=/home/$USERNAME/ws_blue/install
-ENV DEBIAN_FRONTEND=noninteractive
-WORKDIR $USER_WORKSPACE/..
-
-COPY blue.repos src/
-
-RUN apt-get -q update \
-    && apt-get -q -y upgrade \
-    && vcs import src < src/blue.repos \
-    && rosdep update \
-    && rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --as-root=apt:false --skip-keys="gz-transport12 gz-sim7 gz-math7 gz-msgs9 gz-plugin2" \
-    && apt-get autoremove -y \
-    && apt-get clean -y \
-    && rm -rf /var/lib/apt/lists/*
-
-RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" \
-    && colcon build \
-    # Update /ros_entrypoint.sh to source the workspace
-    && sed -i "s#/opt/ros/\$ROS_DISTRO/setup.bash#$USER_WORKSPACE/setup.sh#g" /ros_entrypoint.sh \
-    && echo "source ${USER_WORKSPACE}/setup.sh" >> /home/$USERNAME/.bashrc
-
-####################################################
-# develop: Setup the image for development purposes
-####################################################
-FROM deps as develop
-
-ENV GZ_VERSION=garden
-ENV ROS_UNDERLAY /root/ws_blue/install
-ENV DEBIAN_FRONTEND=noninteractive
-WORKDIR $ROS_UNDERLAY/..
-
-COPY . src/blue
-
-# Install debugging/linting Python packages
-RUN python3 -m pip install -r $(pwd)/src/blue/requirements-dev.txt
-
-RUN apt-get -q update \
-    && apt-get -q -y upgrade \
+# Install Gazebo
+WORKDIR $USER_WORKSPACE
+RUN sudo apt-get -q update \
+    && sudo apt-get -q -y upgrade \
     && vcs import src < src/blue/blue.repos \
     && rosdep update \
-    && rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --as-root=apt:false --skip-keys="gz-transport12 gz-sim7 gz-math7 gz-msgs9" \
-    && rm -rf src \
-    && apt-get autoremove -y \
-    && apt-get clean -y \
-    && rm -rf /var/lib/apt/lists/*
-
-# Install development tools
-RUN apt-get -q update \
-    && apt-get -q -y upgrade \
-    && apt-get -q install --no-install-recommends -y \
-    iputils-ping \
-    net-tools \
-    gdb \
-    nano \
-    && apt-get autoremove -y \
-    && apt-get clean -y \
-    && rm -rf /var/lib/apt/lists/*
-
-COPY .docker/entrypoints/dev.sh /
-
-# WARNING: This is a temporary solution for disabling the setuputils installation warning
-ENV PYTHONWARNINGS="ignore"
-
-ARG WORKSPACE
-RUN echo "if [ -f ${WORKSPACE}/install/setup.bash ]; then source ${WORKSPACE}/install/setup.bash; fi" >> /home/$USERNAME/.bashrc \
-    && echo "if [ -f /opt/ros/${ROS_DISTRO}/setup.bash ]; then source /opt/ros/${ROS_DISTRO}/setup.bash; fi" >> /home/$USERNAME/.bashrc \
-    # Expose the environment variables to the non-root user
-    && echo "if [ -f /sim.sh ]; then source /sim.sh; fi" >> /home/$USERNAME/.bashrc \
-    && echo "if [ -f /dev.sh ]; then source /dev.sh; fi" >> /home/$USERNAME/.bashrc
+    && rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --skip-keys="gz-transport12 gz-sim7 gz-math7 gz-msgs9 gz-plugin2" \
+    && sudo apt-get autoremove -y \
+    && sudo apt-get clean -y \
+    && sudo rm -rf /var/lib/apt/lists/*
+
+# For users that build this on a laptop or system with limited RAM,
+# Modify the 'colcon build' line to be 'MAKEFLAGS="-j1 -l1" colcon build'
+# This will limit the amount of RAM that colcon is allowed to use
+RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" \
+    && colcon build
 
+# Setup the simulation environment variables
+RUN echo "source ${USER_WORKSPACE}/src/blue/.docker/entrypoints/sim.sh" >> /home/$USERNAME/.bashrc
 
-######################################################################################
-# develop-nvidia: Setup the image for development purposes with NVIDIA driver support
-######################################################################################
-FROM deps as develop-nvidia
+FROM desktop as desktop-nvidia
 
 # Install NVIDIA software
-RUN apt-get update \
-    && apt-get install -y -qq --no-install-recommends \
+RUN sudo apt-get update \
+    && sudo apt-get -q -y upgrade \
+    && sudo apt-get install -y -qq --no-install-recommends \
     libglvnd0 \
     libgl1 \
     libglx0 \
     libegl1 \
     libxext6 \
-    libx11-6
+    libx11-6 \
+    && sudo apt-get autoremove -y \
+    && sudo apt-get clean -y \
+    && sudo rm -rf /var/lib/apt/lists/*
 
 # Env vars for the nvidia-container-runtime.
 ENV NVIDIA_VISIBLE_DEVICES all
 ENV NVIDIA_DRIVER_CAPABILITIES graphics,utility,compute
 ENV QT_X11_NO_MITSHM 1
-
-ENV GZ_VERSION=garden
-ENV ROS_UNDERLAY /root/ws_blue/install
-ENV DEBIAN_FRONTEND=noninteractive
-WORKDIR $ROS_UNDERLAY/..
-
-COPY . src/blue
-
-# Install debugging/linting Python packages
-RUN python3 -m pip install -r $(pwd)/src/blue/requirements-dev.txt
-
-RUN apt-get -q update \
-    && apt-get -q -y upgrade \
-    && vcs import src < src/blue/blue.repos \
-    && rosdep update \
-    && rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --as-root=apt:false --skip-keys="gz-transport12 gz-sim7 gz-math7 gz-msgs9 gz-plugin2" \
-    && rm -rf src \
-    && apt-get autoremove -y \
-    && apt-get clean -y \
-    && rm -rf /var/lib/apt/lists/*
-
-# Install development tools
-RUN apt-get -q update \
-    && apt-get -q -y upgrade \
-    && apt-get -q install --no-install-recommends -y \
-    iputils-ping \
-    net-tools \
-    gdb \
-    nano \
-    htop \
-    && apt-get autoremove -y \
-    && apt-get clean -y \
-    && rm -rf /var/lib/apt/lists/*
-
-COPY .docker/entrypoints/dev.sh /
-
-# WARNING: This is a temporary solution for disabling the setuputils installation warning
-ENV PYTHONWARNINGS="ignore"
-
-ARG WORKSPACE
-RUN echo "if [ -f ${WORKSPACE}/install/setup.bash ]; then source ${WORKSPACE}/install/setup.bash; fi" >> /home/$USERNAME/.bashrc \
-    && echo "if [ -f /opt/ros/${ROS_DISTRO}/setup.bash ]; then source /opt/ros/${ROS_DISTRO}/setup.bash; fi" >> /home/$USERNAME/.bashrc \
-    # Expose the environment variables to the non-root user
-    && echo "if [ -f /sim.sh ]; then source /sim.sh; fi" >> /home/$USERNAME/.bashrc \
-    && echo "if [ -f /dev.sh ]; then source /dev.sh; fi" >> /home/$USERNAME/.bashrc
diff --git a/.docker/compose/nouveau-compose.yaml b/.docker/compose/nouveau-compose.yaml
@@ -0,0 +1,22 @@
+version: "3"
+services:
+  blue:
+    image: blue
+    environment:
+      - DISPLAY=${DISPLAY}
+      - XDG_RUNTIME_DIR=${XDG_RUNTIME_DIR}
+      - WAYLAND_DISPLAY=${WAYLAND_DISPLAY} # Can be commented out if not used
+      - PULSE_SERVER=${PULSE_SERVER} # Can be commented out if not used
+    network_mode: host
+    privileged: true
+    cap_add:
+      - SYS_PTRACE
+    security_opt:
+      - seccomp:unconfined
+      - apparmor:unconfined
+    volumes:
+      - /dev:/dev
+      - /run/user/1000:/run/user/1000
+    command: /bin/bash
+    stdin_open: true
+    tty: true