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Use the Docker Development Environment

The Docker/ directory contains setup files for a general robotics development environment. Use the knowledge you gained in this workshop to edit the files for your own robot application.

There are two configurations available:

  • the main branch of this repo uses the dafualt user root in the container
  • the host_user branch creates your user in the container and works from the container's /home/$USER, rather than /root.

Setup

Clone the repo and source the bash utilities for simplified docker commands:

git clone https://github.com/ut-texas-robotics/docker_workshop.git
cd docker_workshop
echo "export ROSD_DIRECTORY=$(pwd)" >> ~/.bashrc
echo "source $ROSD_DIRECTORY/Docker/bash_utils" >> ~/.bashrc

Customize your Image

Edit the Dockerfile FROM instruction to use an image suitable for your application. Maybe its another version of ROS, or maybe you want to use CUDA and start with one of the nvidia/cuda images. Whatever it is, you can find images on Docker Hub.

Then update the packages installed in the RUN instructions to get the dependencies you need. Be sure to update the ROS_DISTRO environment variable for other versions of ROS. Refer to installing_ros_packages for help.

Customize your Configuration

Edit Docker/docker-compose.yaml for your own system. In particular, update the devices: with the ones your robot uses. Ethernet devices do not need to be added, as they are accessible via your host network. You can also change the name of your image and the container created from it, just be sure to update Docker/bash_utils with the new name to use the shortcut commands below.

Edit your project directory: create a folder on your host system called docker_projects or something similar. Then put the full path in volumes: to bind that directory to your container.

  volumes:
    - /full/path/to/dir:/root/projects

Customize your Script

Optionally, add to Docker/entrypoint.sh to change the script that runs when the container starts.

Build and Run

This container is meant to be run with the bash_utils functions. If you don't use them, be sure to give docker xhost permissions with

xhost +local:docker

Build the docker image with

rosd-build

Run the container and open a shell inside it

rosd-start
rosd-shell

Here is the full set of commands defined in Docker/bash_utils:

Command Function
rosd-build build the container from docker files
rosd-start gather host user info, apply ownership to the host user, start container in detached mode
rosd-stop stop container and remove it
rosd-shell open a bash shell in the container
rosd-log view the docker container log
rosd-dir export the ROSD_DIRECTORY env variable, usage: rosd-dir <path>

To use docker commands, see the cheatsheets in docs/ or visit the official Docker Docs.

Start Developing

Open your code on your host in an editor like Visual Studio Code. Work from your local docker_projects directory - from there, add github repos, create catkin workspaces, etc. The contents of this directory will be available inside the container.

It is recommended to edit code and manage git from this directory on the host, and use the container to build and run the code. This way your local user always owns the content.