ariac2019-docker

This repo has the docker containerization for ARIAC2019

sumanthnirmal/ros-melodic-gazebo9

Requirements

• This requires the following packages to be installed on the host machine

  • docker, can be installed from here https://docs.docker.com/install/linux/docker-ce/ubuntu/

  • nvidia-docker2, can be installed from here https://github.com/NVIDIA/nvidia-docker#quickstart

    nvidia-docker2 can be installed on Ubuntu 14.04/16.04/18.04

    # If you have nvidia-docker 1.0 installed: we need to remove it and all existing GPU containers
    docker volume ls -q -f driver=nvidia-docker | xargs -r -I{} -n1 docker ps -q -a -f volume={} | xargs -r docker rm -f
    sudo apt-get purge -y nvidia-docker
    
    # Add the package repositories
    curl -s -L https://nvidia.github.io/nvidia-docker/gpgkey | \
      sudo apt-key add -
     distribution=$(. /etc/os-release;echo $ID$VERSION_ID)
    curl -s -L https://nvidia.github.io/nvidia-docker/$distribution/nvidia-docker.list | \
      sudo tee /etc/apt/sources.list.d/nvidia-docker.list
    sudo apt-get update
    
    # Install nvidia-docker2 and reload the Docker daemon configuration
    sudo apt-get install -y nvidia-docker2
    sudo pkill -SIGHUP dockerd
    
    # Test nvidia-smi with the latest official CUDA image
    docker run --runtime=nvidia --rm nvidia/cuda:9.0-base nvidia-smi

• This also requires a directory named ariac2019_home in the /home directory on host machine, which will be mounted as /home directory inside the docker container. This directory can be accessed inside the container.

Quick-start

# clone this repo
$ git clone https://github.com/sumanth-nirmal/ariac2019-docker.git
$ cd ariac2019-docker
# Start the docker container for ARIAC2019
~/ariac2019-docker$ bash ariac2019_docker.sh start

# Enter the container
~/ariac2019-docker$ bash ariac2019_docker.sh enter

# launch ARIAC2019 sample environment
$ roslaunch osrf_gear sample_environment.launch

This should launch the sample environment as shown below:

ariac2019-dcoker script

The bash script ariac2019-docker.sh handles the start, stop of the docker

Usage:

Start

To start the ariac2019_docker container

$ bash ariac2019-docker.sh start

This should automatically pull the image from dockerhub (to locally build the image, check the next section below) and should start the container with ariac2019_docker_container name and user developer. The directory /home/ariac2019_home on the host machine will be mapped as /home inside the docker with correct X forwarding so any processes inside the container can connect to the x server.

If the ariac2019_docker_container is already started, it can be restarted as below:

$ bash ariac2019-docker.sh start -f

Enter

Once the ariac2019_docker_container is started, we can enter the ariac2019_docker_container environment as follows:

$ bash ariac2019-docker.sh enter

This should automatically connect to the ariac2019_docker_container instance

Stop

To stop the ariac2019_docker_container container

$ bash ariac2019-docker.sh stop

This should automatically stop the docker

Docker file

The repository contains the Dockerfile which is based on Ubuntu 18.04 with nvidia-docker2 beta opengl support https://hub.docker.com/r/nvidia/opengl. The Dockerfile contians the following packages

• ros-melodic-desktop-full
• gazebo9
• ariac3
• VScode with som extensions for C/C++, python, docker, yaml, gitlens, ROS

Also has some utilities like git, git-gui, vim, htop, terminator etc.

Build Docker image

The docker image can be built locally as below:

$ cd ariac2019-docker
~/ariac2019-docker$ docker build --tag=ariac2019_docker .

References:

• https://bitbucket.org/sloretz/dev_docker/src
• https://github.com/NVIDIA/nvidia-docker
• https://bitbucket.org/osrf/ariac/wiki/2019/Home.md