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Creating a Custom Dockerfile (Advanced)

The example dockerfile assumes that you are using aic_model to run your policy. If you are not using aic_model, you need to create a custom dockerfile.

This document assumes you have advanced knowledge of ROS 2 middleware concepts, Zenoh and Docker.

1. ROS 2 and rmw_zenoh_cpp

A policy node is essentially a ROS 2 node that subscribes to observations and publishes actions to be executed. For convenience, the example policy use a Python ROS node named aic_model which instantiates a Policy class that implements the actual policy, to factor out as much boilerplate as possible.

ROS 2 is middleware agnostic, but for the AI for Industry Challenge, rmw_zenoh_cpp is used exclusively. Your dockerfile must run your policy node with rmw_zenoh_cpp. This is usually done by setting the RMW_IMPLEMENTATION environment variable to rmw_zenoh_cpp.

This is automatically set when running your image, you must ensure that your dockerfile do not override it and it also must have rmw_zenoh_cpp available.

2. Zenoh

During evaluation, your image will be ran with the following environment variables:

Variable Description
RMW_IMPLEMENTATION ROS 2 middleware to use. Always set to rmw_zenoh_cpp
ZENOH_ROUTER_CHECK_ATTEMPTS Always set to -1, prevents your container from erroring out when it launches before the model router is ready
AIC_MODEL_ROUTER_ADDR Zenoh router address that your policy node must connect to
AIC_MODEL_PASSWD Password that you must use to identify your policy node

Your policy node must:

  1. Connect to the zenoh router given in AIC_MODEL_ROUTER_ADDR environment variable.
  2. Use user-password authentication with the user model and password given in AIC_MODEL_PASSWD.

The easiest way is to set ZENOH_CONFIG_OVERRIDE to something like:

ZENOH_CONFIG_OVERRIDE='connect/endpoints=["tcp/'"$AIC_MODEL_ROUTER_ADDR"'"];transport/auth/usrpwd/user="model";transport/auth/usrpwd/password="'"$AIC_MODEL_PASSWD"'";transport/auth/usrpwd/dictionary_file="/credentials.txt"'

You also need to create the credentials file, you can use something like:

echo "model:$AIC_MODEL_PASSWD" >> /credentials.txt

See https://github.com/ros2/rmw_zenoh and https://zenoh.io/docs/manual/access-control/ for more information.

3. Entrypoint

Your image's entrypoint must start your policy node. No additional command line arguments will be provided.