Test docker (#3)

* renamed cartesian limits file (#472) * Tutorial dockerfiles (#463) Build and push docker images for tutorials * fixed clang complaints * removed dockerhub pushes * successfully ran htmlproofer * removed chomp tutorial commits * removed accidental commits * Update CMakeLists.txt * renamed mtc tutorial cpp file * updated cmakelists * updated cmakelists * removed vscode * refactored docker * skipping base image * added conditions on building base image * added conditions on building base image * added conditions on building base image * ran pre commit * Update .docker/Dockerfile Co-authored-by: Robert Haschke <[email protected]> * Update .docker/Dockerfile Co-authored-by: Robert Haschke <[email protected]> * resolved comments * updated location to check for changes * test change to dockerfile * test change to dockerfile * test change to dockerfile * updated scripts to run only when dockerfile changes * fixed syntax * chaged to ros base image * chaged to ros base image * update * removed ccache and change repo names * removed ccache and change repo names Co-authored-by: Henry Moore <[email protected]> Co-authored-by: Robert Haschke <[email protected]>
moveit · Jul 15, 2022 · 4f1424f · 4f1424f
1 parent 215c771
commit 4f1424f
Show file tree

Hide file tree

Showing 10 changed files with 466 additions and 1 deletion.
diff --git a/.docker/Dockerfile b/.docker/Dockerfile
@@ -0,0 +1,106 @@
+# syntax = docker/dockerfile:1.3
+
+# ghcr.io/ros-planning/moveit2:${ROS_DISTRO}-source
+# Downloads the moveit source code and install remaining debian dependencies
+
+ARG ROS_DISTRO=rolling
+ARG BASE_BRANCH=
+
+######################### Base Tutorial Image  #################################################
+
+FROM ros:${ROS_DISTRO}-ros-base as base_image
+ENV ROS_UNDERLAY /root/ws_moveit/
+WORKDIR $ROS_UNDERLAY
+
+# Copy MoveIt sources from docker context
+COPY . src/moveit2_tutorials
+
+# Commands are combined in single RUN statement with "apt/lists" folder removal to reduce image size
+# https://docs.docker.com/develop/develop-images/dockerfile_best-practices/#minimize-the-number-of-layers
+RUN --mount=type=cache,target=/root/.ccache/ \
+    # Enable ccache
+    PATH=/usr/lib/ccache:$PATH && \
+    # Fetch required upstream sources for building
+    vcs import src < /root/ws_moveit/src/moveit2_tutorials/moveit2_tutorials.repos && \
+    . "/opt/ros/${ROS_DISTRO}/setup.sh" &&\
+    sudo apt update && rosdep install -r --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y && \
+    colcon build \
+            --cmake-args -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \
+            --ament-cmake-args -DCMAKE_BUILD_TYPE=Debug \
+            --event-handlers desktop_notification- status-
+
+# Update /ros_entrypoint.sh to source our new workspace
+RUN sed -i "s#/opt/ros/\$ROS_DISTRO/setup.bash#$ROS_UNDERLAY/install/setup.bash#g" /ros_entrypoint.sh
+
+######################### Hello World Tutorial Image  #########################################
+
+FROM ghcr.io/mikewrock/moveit2_tutorials:${ROS_DISTRO}${BASE_BRANCH} as hello_world_image
+
+#Make a new package using the command in the tutorial
+RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" &&\
+    . "install/setup.sh" &&\
+    cd "src" &&\
+    ros2 pkg create \
+    --build-type ament_cmake \
+    --dependencies moveit_ros_planning_interface rclcpp \
+    --node-name hello_moveit hello_moveit
+
+#Remove the empty cpp file and replace it with the example file
+RUN rm src/hello_moveit/src/hello_moveit.cpp
+COPY ./doc/tutorials/your_first_project/hello_moveit.cpp src/hello_moveit/src/hello_moveit.cpp
+#Build the tutorial
+RUN --mount=type=cache,target=/root/.ccache/ \
+    . "/opt/ros/${ROS_DISTRO}/setup.sh" &&\
+    . "install/setup.sh" &&\
+    sudo apt update && rosdep install -r --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y && \
+    colcon build \
+            --cmake-args -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \
+            --ament-cmake-args -DCMAKE_BUILD_TYPE=Debug \
+            --event-handlers desktop_notification- status-
+
+######################### Planning Around Objects Image  #######################################
+
+FROM hello_world_image as planning_around_objects_image
+
+#Remove the hellow_world tutorial cpp file and replace it with the planning_around_objects file
+RUN rm src/hello_moveit/src/hello_moveit.cpp
+COPY ./doc/tutorials/planning_around_objects/hello_moveit.cpp src/hello_moveit/src/hello_moveit.cpp
+#Build the tutorial
+RUN --mount=type=cache,target=/root/.ccache/ \
+    . "/opt/ros/${ROS_DISTRO}/setup.sh" &&\
+    . "install/setup.sh" &&\
+    sudo apt update && rosdep install -r --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y && \
+    colcon build \
+            --cmake-args -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \
+            --ament-cmake-args -DCMAKE_BUILD_TYPE=Debug \
+            --event-handlers desktop_notification- status-
+
+######################### Pick and Place (MTC) Image  #########################################
+
+FROM planning_around_objects_image as pick_and_place_image
+
+#Make a new package using the command in the tutorial
+RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" &&\
+    . "install/setup.sh" &&\
+    ros2 pkg create \
+        --build-type ament_cmake \
+        --destination-directory src \
+        --dependencies moveit_task_constructor_core rclcpp \
+        --node-name mtc_node mtc_tutorial
+#Remove the empty cpp file and replace it with the example file
+RUN rm src/mtc_tutorial/src/mtc_node.cpp
+COPY ./doc/tutorials/pick_and_place_with_moveit_task_constructor/src/mtc_node.cpp src/mtc_tutorial/src/mtc_node.cpp
+#Add the launch folder to the tutorial package and CMakeLists.txt
+COPY ./doc/tutorials/pick_and_place_with_moveit_task_constructor/launch src/mtc_tutorial/launch
+RUN   sed -i "s|ament_package()|install(DIRECTORY launch  DESTINATION share/\${PROJECT_NAME})\nament_package()|g" src/mtc_tutorial/CMakeLists.txt
+#Build the tutorial
+RUN --mount=type=cache,target=/root/.ccache/ \
+    # Enable ccache
+    PATH=/usr/lib/ccache:$PATH && \
+    . "/opt/ros/${ROS_DISTRO}/setup.sh" &&\
+     . "install/setup.sh" &&\
+    sudo apt update && rosdep install -r --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y && \
+    colcon build \
+            --cmake-args -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \
+            --ament-cmake-args -DCMAKE_BUILD_TYPE=Debug \
+            --event-handlers desktop_notification- status-
diff --git a/.docker/README.md b/.docker/README.md
@@ -0,0 +1,4 @@
+# MoveIt Docker Containers
+
+
+For more information see the pages [Continuous Integration and Docker](http://moveit.ros.org/documentation/contributing/continuous_integration.html) and [Using Docker Containers with MoveIt](https://moveit.ros.org/install/docker/).
diff --git a/.docker/gui-docker b/.docker/gui-docker
@@ -0,0 +1,147 @@
+#!/bin/bash -u
+
+# This script is used to run a docker container with graphics support.
+# All arguments to this script except "-c <container_name>" will be appended to a docker run command.
+# If a container name is specified, and this container already exists, the container is re-entered,
+# which easily allows entering the same persistent container from multiple terminals.
+# See documentation for detailed examples: https://moveit.ros.org/install/docker/
+
+# Example commands:
+# ./gui-docker --rm -it moveit/moveit:foxy-source /bin/bash     # Run a (randomly named) container that is removed on exit
+# ./gui-docker -v ~/ros_ws:/root/ros_ws --rm -it moveit/moveit:foxy-source /bin/bash   # Same, but also link host volume ~/ros_ws to /root/ros_ws in the container
+# ./gui-docker -c container_name                                  # Start (or continue) an interactive bash in a moveit/moveit:foxy-source container
+# ./gui-docker                                                    # Same, but use the default container name "default_moveit_container"
+
+function check_nvidia2() {
+    # If we don't have an NVIDIA graphics card, bail out
+    lspci | grep -qi "vga .*nvidia" || return 1
+    # If we don't have the nvidia runtime, bail out
+    if ! docker -D info | grep -qi "runtimes.* nvidia" ; then
+       echo "nvidia-docker v2 not installed (see https://github.com/NVIDIA/nvidia-docker/wiki)"
+       return 2
+    fi
+    echo "found nvidia-docker v2"
+    DOCKER_PARAMS="\
+      --runtime=nvidia \
+      --env=NVIDIA_VISIBLE_DEVICES=${NVIDIA_VISIBLE_DEVICES:-all} \
+      --env=NVIDIA_DRIVER_CAPABILITIES=${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}all"
+    return 0
+}
+
+function check_nvidia1() {
+    # If we don't have an NVIDIA graphics card, bail out
+    lspci | grep -qi "vga .*nvidia" || return 1
+    # Check whether nvidia-docker is available
+    if ! which nvidia-docker > /dev/null ; then
+       echo "nvidia-docker v1 not installed either"
+       return 2
+    fi
+    # Check that nvidia-modprobe is installed
+    if ! which nvidia-modprobe > /dev/null ; then
+       echo "nvidia-docker-plugin requires nvidia-modprobe. Please install it!"
+       return 3
+    fi
+    # Retrieve device parameters from nvidia-docker-plugin
+    if ! DOCKER_PARAMS=$(curl -s http://localhost:3476/docker/cli) ; then
+       echo "nvidia-docker-plugin not responding on http://localhost:3476/docker/cli"
+       echo "See https://github.com/NVIDIA/nvidia-docker/wiki/Installation-(version-1.0)"
+       return 3
+    fi
+    echo "found nvidia-docker v1"
+    DOCKER_EXECUTABLE=nvidia-docker
+}
+
+function check_dri() {
+    # If there is no /dev/dri, bail out
+    test -d /dev/dri || return 1
+    DOCKER_PARAMS="--device=/dev/dri --group-add video"
+}
+
+function transfer_x11_permissions() {
+    # store X11 access rights in temp file to be passed into docker container
+    XAUTH=/tmp/.docker.xauth
+    touch $XAUTH
+    xauth nlist $DISPLAY | sed -e 's/^..../ffff/' | xauth -f $XAUTH nmerge -
+}
+
+function count_positional_args() {
+    while true ; do
+       case "${1:-}" in
+          # Skip common options with a subsequent positional argument
+          # This list is not exhaustive! Augment as you see fit.
+          -v|--volume) shift ;;
+          -w) shift ;;
+          -e) shift ;;
+          # Skip all other options
+          -*) ;;
+          *) break ;;
+       esac
+       shift
+    done
+    # Return remaining number of arguments
+    echo $#
+}
+
+if [ $# -eq 0 ] ; then
+   # If no options are specified at all, use the name "default_moveit_container"
+   CONTAINER_NAME=default_moveit_container
+else
+  # Check for option -c or --container in first position
+  case "$1" in
+    -c|--container)
+      shift
+      # If next argument is not an option, use it as the container name
+      if [[ "${1:-}" != -* ]] ; then
+         CONTAINER_NAME="${1:-}"
+         shift
+      fi
+      # Set default container name if still undefined
+      CONTAINER_NAME="${CONTAINER_NAME:-default_moveit_container}"
+      ;;
+  esac
+fi
+
+transfer_x11_permissions
+
+# Probe for nvidia-docker (version 2 or 1)
+check_nvidia2 || check_nvidia1 || check_dri || echo "No supported graphics card found"
+
+DOCKER_EXECUTABLE=${DOCKER_EXECUTABLE:-docker}
+
+# If CONTAINER_NAME was specified and this container already exists, continue it
+if [ -n "${CONTAINER_NAME:-}" ] ; then
+   if [ -z "$($DOCKER_EXECUTABLE ps -aq --filter name=^$CONTAINER_NAME\$)" ] ; then
+      # container not yet existing: add an option to name the container when running docker below
+      NAME_OPTION="--name=$CONTAINER_NAME"
+      if [ "$(count_positional_args $@)" == "0" ] ; then
+         # If no further (positional) arguments were provided, start a bash in the default image (for dummy users)
+         DUMMY_DEFAULTS="-it moveit/moveit:foxy-source bash"
+      fi
+   else
+      if [ -z "$($DOCKER_EXECUTABLE ps -q --filter name=^$CONTAINER_NAME\$)" ] ; then
+         echo -n "Start existing, but stopped container: "
+         docker start $CONTAINER_NAME
+      fi
+      echo "Entering container: $CONTAINER_NAME"
+      if [ $# -eq 0 ] ; then
+         docker exec -it $CONTAINER_NAME bash
+      else
+         docker exec $CONTAINER_NAME $@
+      fi
+      rm $XAUTH
+      exit 0
+   fi
+fi
+
+${DOCKER_EXECUTABLE:-docker} run \
+    --env="DISPLAY=$DISPLAY" \
+    --env="QT_X11_NO_MITSHM=1" \
+    --env="XAUTHORITY=$XAUTH" \
+    --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
+    --volume="$XAUTH:$XAUTH" \
+    ${NAME_OPTION:-} \
+    ${DOCKER_PARAMS:-} \
+    $@ ${DUMMY_DEFAULTS:-}
+
+# cleanup
+rm $XAUTH
diff --git a/.github/workflows/docker-base.yml b/.github/workflows/docker-base.yml
@@ -0,0 +1,72 @@
+name: Build Basic Tutorial Image
+
+on:
+  workflow_call:
+
+jobs:
+  build-base:
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [humble, rolling]
+    runs-on: ubuntu-latest
+    permissions:
+      packages: write
+      contents: read
+    env:
+      GH_IMAGE: ghcr.io/mikewrock/moveit2_tutorials:${{ matrix.ROS_DISTRO }}
+      DH_IMAGE: moveit/moveit2_tutorials:${{ matrix.ROS_DISTRO }}
+      PUSH: ${{ (github.event_name != 'pull_request') && (github.repository == 'mikewrock/moveit2_tutorials') }}
+
+    steps:
+      - uses: actions/checkout@v3
+        with:
+          fetch-depth: 0
+      - name: Get changed files
+        id: changed-files
+        uses: tj-actions/[email protected]
+        with:
+          since_last_remote_commit: true
+          files: |
+            .docker/Dockerfile
+            moveit2_tutorials.repos
+            doc/tutorials/*
+      - name: Set up Docker Buildx
+        if: steps.changed-files.outputs.any_changed == 'true'
+        uses: docker/setup-buildx-action@v2
+      - name: Login to Github Container Registry
+        if: steps.changed-files.outputs.any_changed == 'true'
+        uses: docker/login-action@v2
+        with:
+          registry: ghcr.io
+          username: ${{ github.repository_owner }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+      # - name: Login to DockerHub
+      #   if: env.PUSH == 'true'
+      #   uses: docker/login-action@v2
+      #   with:
+      #     username: ${{ secrets.DOCKERHUB_USERNAME }}
+      #     password: ${{ secrets.DOCKERHUB_TOKEN }}
+      - name: Build and Push Basic Tutorial Image
+        uses: docker/build-push-action@v3
+        if: steps.changed-files.outputs.any_changed == 'true' && env.PUSH == 'true'
+        with:
+          file: .docker/Dockerfile
+          build-args: ROS_DISTRO=${{ matrix.ROS_DISTRO }}
+          target: base_image
+          push: ${{ env.PUSH }}
+          no-cache: false
+          tags: |
+            ${{ env.GH_IMAGE }}
+#            ${{ env.DH_IMAGE }}
+      - name: Build and Push PR Image
+        uses: docker/build-push-action@v3
+        if: steps.changed-files.outputs.any_changed == 'true' && env.PUSH == 'false' &&  github.event_name == 'pull_request'
+        with:
+          file: .docker/Dockerfile
+          build-args: ROS_DISTRO=${{ matrix.ROS_DISTRO }}
+          target: base_image
+          push: true
+          no-cache: false
+          tags: |
+            ${{ env.GH_IMAGE }}-PR-${{ github.head_ref }}