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Merge pull request #96 from lbr-stack/fix/roboreg-91/docker
minimal docker (#91)
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‎.docker/cuda-12.4.1-runtime-ubuntu-22.04.Dockerfile‎

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FROM nvidia/cuda:12.4.1-runtime-ubuntu22.04 AS builder
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# create ubuntu user
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RUN groupadd --gid 1000 ubuntu \
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&& useradd --uid 1000 --gid 1000 -m ubuntu
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# add ROS 2 Jazzy sources, see e.g. https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debians.html
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ENV DEBIAN_FRONTEND=noninteractive
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ENV ROS_DISTRO=humble
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RUN apt-get update && \
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apt-get install software-properties-common -y && \
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add-apt-repository universe &&\
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apt-get update && apt-get install curl -y && \
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curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
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echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null && \
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apt-get update
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# install build tools (unavailable in base image and only required for builder stage)
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RUN apt-get install \
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git \
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cmake \
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python3 \
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python3-venv \
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python3-pip -y
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# install minimal ROS 2 build utilities
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# remove ament_cmake_pytest on https://github.com/lbr-stack/lbr_fri_ros2_stack/issues/372
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RUN apt-get install \
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python3-colcon-common-extensions \
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ros-${ROS_DISTRO}-ament-cmake \
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ros-${ROS_DISTRO}-ament-cmake-pytest -y
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# clone the LBR-Stack and xarm source code for robot description only
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WORKDIR /home/ubuntu
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RUN mkdir -p roboreg-deployment/src && \
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cd roboreg-deployment/src && \
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git clone https://github.com/lbr-stack/lbr_fri_ros2_stack.git -b $ROS_DISTRO && \
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git clone https://github.com/xArm-Developer/xarm_ros2.git --recursive -b $ROS_DISTRO
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# copy roboreg for installation (this is done as root)
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COPY . ./roboreg
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# change permissions for install
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RUN chmod -R 777 \
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roboreg-deployment \
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roboreg
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# non-root user installation stuff
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USER ubuntu
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# create a virtual environment
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RUN cd roboreg-deployment && \
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python3 -m venv roboreg-venv && \
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touch roboreg-venv/COLCON_IGNORE
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# change default shell
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SHELL ["/bin/bash", "-c"]
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# install roboreg into the venv
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RUN source roboreg-deployment/roboreg-venv/bin/activate && \
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pip3 install roboreg/
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# install robot description files (xarm dependencies little intertwined, require some manual installation, done above)
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RUN cd roboreg-deployment && \
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source /opt/ros/${ROS_DISTRO}/setup.bash && \
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colcon build \
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--cmake-args -DBUILD_TESTING=0 \
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--packages-select \
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xarm_description \
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lbr_description
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FROM nvidia/cuda:12.4.1-runtime-ubuntu22.04
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# create ubuntu user
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RUN groupadd --gid 1000 ubuntu \
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&& useradd --uid 1000 --gid 1000 -m ubuntu \
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&& apt-get update \
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&& apt-get install -y sudo \
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&& echo ubuntu ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/ubuntu \
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&& chmod 0440 /etc/sudoers.d/ubuntu
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# add ROS 2 Jazzy sources, see e.g. https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debians.html
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ENV DEBIAN_FRONTEND=noninteractive
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ENV ROS_DISTRO=humble
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RUN apt-get update && \
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apt-get install software-properties-common -y && \
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add-apt-repository universe &&\
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apt-get update && apt-get install curl -y && \
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curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
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echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null && \
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apt-get update
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# install minimal runtime utilities
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RUN apt-get install \
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python3 \
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python3-setuptools \
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ros-${ROS_DISTRO}-ament-index-python \
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ros-${ROS_DISTRO}-xacro \
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libgl1 \
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libxrender1 -y
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# change default shell (for ROS sourcing)
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SHELL ["/bin/bash", "-c"]
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# non-root user
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USER ubuntu
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WORKDIR /home/ubuntu
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# copy roboreg-deployment from builder stage
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COPY --from=builder /home/ubuntu/roboreg-deployment/roboreg-venv /home/ubuntu/roboreg-deployment/roboreg-venv
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COPY --from=builder /home/ubuntu/roboreg-deployment/install /home/ubuntu/roboreg-deployment/install
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COPY --from=builder /home/ubuntu/roboreg/test/assets /home/ubuntu/sample-data
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# source ROS 2 workspace
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RUN echo "source /home/ubuntu/roboreg-deployment/install/setup.bash" >> /home/ubuntu/.bashrc
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RUN echo "source /home/ubuntu/roboreg-deployment/roboreg-venv/bin/activate" >> /home/ubuntu/.bashrc
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# extend PATH (for CLI)
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ENV PATH="$PATH:/home/ubuntu/roboreg-deployment/roboreg-venv/bin"
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# run inside the roboreg folder (where data is located)
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CMD ["/bin/bash"]

‎.docker/cuda-13.1.0-runtime-ubuntu-24.04.Dockerfile‎

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FROM nvidia/cuda:13.1.0-runtime-ubuntu24.04 AS builder
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# add ROS 2 Jazzy sources, see e.g. https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debians.html
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ENV DEBIAN_FRONTEND=noninteractive
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ENV ROS_DISTRO=jazzy
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RUN apt-get update && \
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apt-get install software-properties-common -y && \
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add-apt-repository universe &&\
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apt-get update && apt-get install curl -y && \
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curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
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echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null && \
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apt-get update
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# install build tools (unavailable in base image and only required for builder stage)
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RUN apt-get install \
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git \
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cmake \
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python3 \
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python3-venv \
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python3-pip -y
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# install minimal ROS 2 build utilities
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# remove ament_cmake_pytest on https://github.com/lbr-stack/lbr_fri_ros2_stack/issues/372
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RUN apt-get install \
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python3-colcon-common-extensions \
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ros-${ROS_DISTRO}-ament-cmake \
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ros-${ROS_DISTRO}-ament-cmake-pytest -y
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# clone the LBR-Stack and xarm source code for robot description only
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WORKDIR /home/ubuntu
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RUN mkdir -p roboreg-deployment/src && \
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cd roboreg-deployment/src && \
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git clone https://github.com/lbr-stack/lbr_fri_ros2_stack.git -b $ROS_DISTRO && \
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git clone https://github.com/xArm-Developer/xarm_ros2.git --recursive -b $ROS_DISTRO
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# copy roboreg for installation (this is done as root)
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COPY . ./roboreg
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# change permissions for install
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RUN chmod -R 777 \
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roboreg-deployment \
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roboreg
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# non-root user installation stuff
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USER ubuntu
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# create a virtual environment
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RUN cd roboreg-deployment && \
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python3 -m venv roboreg-venv && \
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touch roboreg-venv/COLCON_IGNORE
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# change default shell
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SHELL ["/bin/bash", "-c"]
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# install roboreg into the venv
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RUN source roboreg-deployment/roboreg-venv/bin/activate && \
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pip3 install roboreg/
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# install robot description files (xarm dependencies little intertwined, require some manual installation, done above)
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RUN cd roboreg-deployment && \
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source /opt/ros/${ROS_DISTRO}/setup.bash && \
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colcon build \
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--cmake-args -DBUILD_TESTING=0 \
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--packages-select \
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xarm_description \
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lbr_description
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FROM nvidia/cuda:13.1.0-runtime-ubuntu24.04
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# add ubuntu to sudoers: https://code.visualstudio.com/remote/advancedcontainers/add-nonroot-user#_creating-a-nonroot-user
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RUN apt-get update && \
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apt-get install -y sudo && \
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echo ubuntu ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/ubuntu && \
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chmod 0440 /etc/sudoers.d/ubuntu
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# add ROS 2 Jazzy sources, see e.g. https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debians.html
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ENV DEBIAN_FRONTEND=noninteractive
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ENV ROS_DISTRO=jazzy
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RUN apt-get update && \
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apt-get install software-properties-common -y && \
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add-apt-repository universe &&\
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apt-get update && apt-get install curl -y && \
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curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
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echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null && \
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apt-get update
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# install minimal runtime utilities
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RUN apt-get install \
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python3 \
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ros-${ROS_DISTRO}-ament-index-python \
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ros-${ROS_DISTRO}-xacro \
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libgl1 \
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libxrender1 -y
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# change default shell (for ROS sourcing)
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SHELL ["/bin/bash", "-c"]
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# non-root user
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USER ubuntu
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WORKDIR /home/ubuntu
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# copy roboreg-deployment from builder stage
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COPY --from=builder /home/ubuntu/roboreg-deployment/roboreg-venv /home/ubuntu/roboreg-deployment/roboreg-venv
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COPY --from=builder /home/ubuntu/roboreg-deployment/install /home/ubuntu/roboreg-deployment/install
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COPY --from=builder /home/ubuntu/roboreg/test/assets /home/ubuntu/sample-data
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# source ROS 2 workspace
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RUN echo "source /home/ubuntu/roboreg-deployment/install/setup.bash" >> /home/ubuntu/.bashrc
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RUN echo "source /home/ubuntu/roboreg-deployment/roboreg-venv/bin/activate" >> /home/ubuntu/.bashrc
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# extend PATH (for CLI)
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ENV PATH="$PATH:/home/ubuntu/roboreg-deployment/roboreg-venv/bin"
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# run inside the roboreg folder (where data is located)
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CMD ["/bin/bash"]

‎Dockerfile‎

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This file was deleted.

‎README.md‎

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git clone git@github.com:lbr-stack/roboreg.git
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```
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2. Build the Docker image
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2. Build the Docker image (currently only runtime support, i.e. no rendering via compiled kernels)
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```shell
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cd roboreg
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docker build . \
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--tag roboreg \
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--build-arg USER_ID=$(id -u) \
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--build-arg GROUP_ID=$(id -g) \
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--build-arg USER=$USER
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docker build -t roboreg:cuda-13.1.0-runtime-ubuntu-24.04 -f .docker/cuda-13.1.0-runtime-ubuntu-24.04.Dockerfile .
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```
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3. Run container
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3. Run container (on Linux host with [NVIDIA Container Toolkit](#docker-comes-with-cuda-toolkit))
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```shell
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docker remove roboreg-container
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docker run -it \
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--gpus all \
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--network host \
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--volume /dev:/dev --privileged \
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--env DISPLAY \
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--env QT_X11_NO_MITSHM=1 \
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--name roboreg-container \
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roboreg
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roboreg:cuda-13.1.0-runtime-ubuntu-24.04
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```
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## Command Line Interface

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