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Merge pull request #44 from PickNikRobotics/align-docker-files
fix: aligning the docker files from example ws
2 parents 87a5c20 + f2f6fe9 commit 4bed4dd

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‎.pre-commit-config.yaml‎

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Original file line numberDiff line numberDiff line change
@@ -11,6 +11,7 @@
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# pre-commit autoupdate
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#
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# See https://github.com/pre-commit/pre-commit
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exclude: ^src/external_dependencies/
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repos:
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# Standard hooks
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- repo: https://github.com/pre-commit/pre-commit-hooks
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[
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"--no-warnings",
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"--config-data",
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"{extends: default, rules: {line-length: disable, braces: {max-spaces-inside: 1}, indentation: {spaces: consistent, indent-sequences: whatever}}}",
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"{extends: default, rules: {line-length: disable, braces: {max-spaces-inside: 1}, indentation: disable, empty-lines: {max-end: 0, max-start: 1}}}",
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]
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types: [text]
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files: \.(yml|yaml)$
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# NOTE: Broken on arm64. Will need to bump once https://github.com/hadolint/hadolint/issues/840 is fixed.
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- repo: https://github.com/hadolint/hadolint
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rev: v2.10.0
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rev: v2.11.0
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hooks:
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- id: hadolint-docker
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- id: hadolint
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name: "Lint Dockerfiles"
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language: docker_image
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types: ["dockerfile"]
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entry: hadolint/hadolint:2.11.0 hadolint
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- repo: https://github.com/pre-commit/mirrors-prettier
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rev: "v3.1.0"

‎Dockerfile‎

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Original file line numberDiff line numberDiff line change
@@ -47,17 +47,9 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
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/home/${USERNAME}/.ros && \
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chown -R $USER_UID:$USER_GID /home/${USERNAME} /opt/overlay_ws/
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# IMPORTANT: Optionally install Nvidia drivers for improved simulator performance with Nvidia GPUs.
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# To do this you must
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# 1. Uncomment the ENV and RUN entries below
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# 2. Replace the 'nvidia-driver-555' apt package with the Nvidia driver version on your host, e.g. nvidia-driver-535, nvidia-driver-555. Use nvidia-smi on your host to determine the driver version.
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# After rebuilding via `moveit_pro build` verify the drivers are active in your container by running `nvidia_smi` inside of `moveit_pro shell`.
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# ENV DEBIAN_FRONTEND=noninteractive
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# RUN apt update && apt install -y software-properties-common
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# RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
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# --mount=type=cache,target=/var/lib/apt,sharing=locked \
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# add-apt-repository ppa:graphics-drivers/ppa && \
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# apt update && apt upgrade -y && apt install -y nvidia-driver-555
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# Add user to dialout group to enable communication with serial USB devices (gripper, FTS, ...)
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# Add user to video group to enable communication with cameras
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RUN usermod -aG dialout,video ${USERNAME}
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# Install additional dependencies
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# You can also add any necessary apt-get install, pip install, etc. commands at this point.
@@ -121,3 +113,129 @@ WORKDIR $USER_WS
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# Set up the user's .bashrc file and shell.
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CMD ["/usr/bin/bash"]
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##################################################
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# Starting from the specified MoveIt Pro release with CUDA GPU #
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##################################################
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# The image tag is specified in the argument itself.
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# hadolint ignore=DL3006
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FROM ${MOVEIT_STUDIO_BASE_IMAGE} AS base-gpu
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# Create a non-root user
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ARG USERNAME
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ARG USER_UID
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ARG USER_GID
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# hadolint ignore=DL3008
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RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
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--mount=type=cache,target=/var/lib/apt,sharing=locked \
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apt-get update && apt-get install wget -y -q --no-install-recommends && \
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wget --progress=dot:giga https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2204/x86_64/cuda-keyring_1.1-1_all.deb && \
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dpkg -i cuda-keyring_1.1-1_all.deb && \
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apt-get update && \
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apt-get install -q -y --no-install-recommends \
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libcudnn9-cuda-12 \
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libcudnn9-dev-cuda-12 \
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libcublas-12-6 \
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cuda-cudart-12-6 \
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libcurand-12-6 \
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libcufft-12-6 \
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libnvinfer10 \
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libnvinfer-plugin10 \
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libnvonnxparsers10 \
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libtree
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# Misleading name: onnxruntime_gpu is actually specifically the CUDA package. This is only shipped for x86-64
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RUN if [ "$(uname -m)" = "x86_64" ]; then pip3 install --no-cache-dir onnxruntime_gpu==1.19.0; fi
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# Copy source code from the workspace's ROS 2 packages to a workspace inside the container
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ARG USER_WS=/home/${USERNAME}/user_ws
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ENV USER_WS=${USER_WS}
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# Also mkdir with user permission directories which will be mounted later to avoid docker creating them as root
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WORKDIR $USER_WS
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# hadolint ignore=DL3008
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RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
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--mount=type=cache,target=/var/lib/apt,sharing=locked \
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groupadd --gid $USER_GID ${USERNAME} && \
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useradd --uid $USER_UID --gid $USER_GID --shell /bin/bash --create-home ${USERNAME} && \
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apt-get update && \
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apt-get install -q -y --no-install-recommends sudo && \
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echo ${USERNAME} ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/${USERNAME} && \
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chmod 0440 /etc/sudoers.d/${USERNAME} && \
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cp -r /etc/skel/. /home/${USERNAME} && \
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mkdir -p \
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/home/${USERNAME}/.ccache \
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/home/${USERNAME}/.config \
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/home/${USERNAME}/.ignition \
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/home/${USERNAME}/.colcon \
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/home/${USERNAME}/.ros && \
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chown -R $USER_UID:$USER_GID /home/${USERNAME} /opt/overlay_ws/
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# Install additional dependencies
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# You can also add any necessary apt-get install, pip install, etc. commands at this point.
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# NOTE: The /opt/overlay_ws folder contains MoveIt Pro binary packages and the source file.
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# hadolint ignore=SC1091
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RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
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--mount=type=cache,target=/var/lib/apt,sharing=locked \
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--mount=type=bind,target=${USER_WS}/,source=. \
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. /opt/overlay_ws/install/setup.sh && \
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apt-get update && \
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rosdep install -q -y \
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--from-paths src \
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--ignore-src
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# Set up colcon defaults for the new user
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USER ${USERNAME}
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RUN colcon mixin add default \
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https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml && \
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colcon mixin update && \
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colcon metadata add default \
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https://raw.githubusercontent.com/colcon/colcon-metadata-repository/master/index.yaml && \
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colcon metadata update
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COPY colcon-defaults.yaml /home/${USERNAME}/.colcon/defaults.yaml
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# hadolint ignore=DL3002
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USER root
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# Set up the user's .bashrc file and shell.
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CMD ["/usr/bin/bash"]
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###################################################################
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# Target for the developer build which does not compile any code. #
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###################################################################
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FROM base-gpu AS user-overlay-gpu-dev
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ARG USERNAME
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ARG USER_WS=/home/${USERNAME}/user_ws
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ENV USER_WS=${USER_WS}
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# Install any additional packages for development work
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# hadolint ignore=DL3008
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RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
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--mount=type=cache,target=/var/lib/apt,sharing=locked \
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apt-get update && \
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apt-get install -y --no-install-recommends \
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less \
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gdb \
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nano
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# Set up the user's .bashrc file and shell.
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CMD ["/usr/bin/bash"]
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#########################################
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# Target for compiled, deployable image with GPU support #
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#########################################
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FROM base-gpu AS user-overlay-gpu
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ARG USERNAME
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ARG USER_WS=/home/${USERNAME}/user_ws
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ENV USER_WS=${USER_WS}
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ENV LD_LIBRARY_PATH=/usr/local/lib/python3.10/dist-packages/onnxruntime/capi:/usr/lib/x86_64-linux-gnu:/usr/local/cuda-12.6/targets/x86_64-linux/lib:$LD_LIBRARY_PATH
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# Compile the workspace
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WORKDIR $USER_WS
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# Set up the user's .bashrc file and shell.
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CMD ["/usr/bin/bash"]

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