Build and host docker images of the tutorials (#533)

Author: MikeWrock

.docker/Dockerfile

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+# syntax = docker/dockerfile:1.3
+
+ARG ROS_DISTRO=rolling
+
+######################### Tutorial Image  #################################################
+
+FROM moveit/moveit2:${ROS_DISTRO}-source as tutorial_image
+
+LABEL org.opencontainers.image.description "This container has working versions of the tutorials discussed here: https://moveit.picknik.ai/main/doc/tutorials/tutorials.html"
+
+# Copy MoveIt sources from docker context
+COPY . src/moveit2_tutorials
+
+# Commands are combined in single RUN statement with "apt/lists" folder removal to reduce image size
+# https://docs.docker.com/develop/develop-images/dockerfile_best-practices/#minimize-the-number-of-layers
+RUN --mount=type=cache,target=/root/.ccache/ \
+    # Fetch required upstream sources for building
+    vcs import src < /root/ws_moveit/src/moveit2_tutorials/.github/upstream.repos
+
+######################### Hello World Tutorial  #########################################
+
+#Create a new package using the command from the tutorial
+RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" &&\
+    . "install/setup.sh" &&\
+    cd "src" &&\
+    ros2 pkg create \
+    --build-type ament_cmake \
+    --dependencies moveit_ros_planning_interface moveit_visual_tools rclcpp \
+    --node-name hello_moveit hello_moveit
+
+######################### Planning Around Objects  #######################################
+
+#Remove the hello_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
+
+######################### Pick and Place (MTC) Image  #########################################
+
+#Create a new package using the command from the tutorial
+RUN . "/opt/ros/${ROS_DISTRO}/setup.sh" &&\
+    . "install/setup.sh" &&\
+    ros2 pkg create \
+        --build-type ament_cmake \
+        --destination-directory src \
+        --dependencies moveit_task_constructor_core rclcpp \
+        --node-name mtc_node mtc_tutorial
+
+#Remove the empty cpp file and replace it with the example file
+RUN rm src/mtc_tutorial/src/mtc_node.cpp
+COPY ./doc/tutorials/pick_and_place_with_moveit_task_constructor/src/mtc_node.cpp src/mtc_tutorial/src/mtc_node.cpp
+
+#Add the launch folder to the tutorial package and CMakeLists.txt
+COPY ./doc/tutorials/pick_and_place_with_moveit_task_constructor/launch src/mtc_tutorial/launch
+
+#Add install(DIRECTORY launch  DESTINATION share/${PROJECT_NAME}) to CMakeLists.txt
+RUN   sed -i "s|ament_package()|install(DIRECTORY launch  DESTINATION share/\${PROJECT_NAME})\nament_package()|g" src/mtc_tutorial/CMakeLists.txt
+#Build the tutorials and set up the entrypoint/bashrc
+RUN --mount=type=cache,target=/root/.ccache/ \
+    # Enable ccache
+    . "/opt/ros/${ROS_DISTRO}/setup.sh" &&\
+     . "install/setup.sh" &&\
+    sudo apt update && rosdep install -r --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y && \
+    sudo apt install -y ros-${ROS_DISTRO}-rmw-cyclonedds-cpp && \
+    colcon build \
+            --cmake-args -DCMAKE_BUILD_TYPE=Debug -DBUILD_TESTING=OFF -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \
+            --ament-cmake-args -DCMAKE_BUILD_TYPE=Release \
+            --event-handlers desktop_notification- status- && \
+    ccache -s && \
+    rm -rf /var/lib/apt/lists/* && \
+    # Update /ros_entrypoint.sh to source our new workspace
+    sed -i "s#/opt/ros/\$ROS_DISTRO/setup.bash#$ROS_UNDERLAY/install/setup.bash#g" /ros_entrypoint.sh && \
+    echo "export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp" >> /root/.bashrc && \
+    echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /root/.bashrc && \
+    echo "source /root/ws_moveit/install/setup.bash" >> /root/.bashrc

.docker/README.md

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+# 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.picknik.ai/main/doc/how_to_guides/how_to_setup_docker_containers_in_ubuntu.html).

.docker/docker-compose.yml

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+# Example command:
+#   Humble on a Nvidia system:
+#   DOCKER_IMAGE=humble-tutorial docker compose run gpu
+#   Rolling without discrete graphics:
+#   DOCKER_IMAGE=rolling-tutorial docker compose run cpu
+
+services:
+  cpu:
+    image: ghcr.io/ros-planning/moveit2_tutorials:$DOCKER_IMAGE
+    container_name: moveit2_container
+    privileged: true
+    network_mode: host
+    command: /bin/bash
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix
+      - $XAUTHORITY:/root/.Xauthority
+    environment:
+      QT_X11_NO_MITSHM: 1
+      DISPLAY: $DISPLAY
+  gpu:
+    image: ghcr.io/ros-planning/moveit2_tutorials:$DOCKER_IMAGE
+    container_name: moveit2_container
+    privileged: true
+    network_mode: host
+    command: /bin/bash
+    deploy:
+      resources:
+        reservations:
+          devices:
+            - driver: nvidia
+              count: 1
+              capabilities: [gpu]
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix
+      - $XAUTHORITY:/root/.Xauthority
+    environment:
+      QT_X11_NO_MITSHM: 1
+      DISPLAY: $DISPLAY
+      NVIDIA_VISIBLE_DEVICES: all
+      NVIDIA_DRIVER_CAPABILITIES: all

.docker/gui-docker

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+#!/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

.github/workflows/docker-images.yml

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+name: Build Tutorial Image
+
+on:
+  workflow_call:
+  workflow_dispatch:
+
+jobs:
+  build-images:
+    strategy:
+      fail-fast: false
+      matrix:
+        ROS_DISTRO: [humble, rolling]
+    runs-on: ubuntu-latest
+    permissions:
+      packages: write
+      contents: read
+    env:
+      GH_IMAGE: ghcr.io/${{ github.repository }}:${{ matrix.ROS_DISTRO }}
+      PUSH: ${{ (github.ref_name == 'main') }}
+
+    steps:
+      - name: Set lower case for container name
+        run: |
+          echo "GH_IMAGE_LC=${GH_IMAGE,,}" >>${GITHUB_ENV}
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v2
+      - name: Login to Github Container Registry
+        uses: docker/login-action@v2
+        with:
+          registry: ghcr.io
+          username: ${{ github.repository_owner }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+      - name: Build Tutorial Image
+        uses: docker/build-push-action@v3
+        with:
+          file: .docker/Dockerfile
+          build-args: |
+                ROS_DISTRO=${{ matrix.ROS_DISTRO }}
+                BASE_BRANCH=${{ env.BASE_IMAGE_BRANCH }}
+          target: tutorial_image
+          push: ${{ env.PUSH }}
+          no-cache: false
+          tags: |
+            ${{ env.GH_IMAGE_LC }}-tutorial

.github/workflows/docker.yml

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+name: Update Tutorial Images
+
+on:
+  schedule:
+    # 5 PM UTC every Sunday
+    - cron:  '0 17 * * 6'
+  workflow_dispatch:
+  push:
+    branches:
+      - main
+
+jobs:
+  call-docker-images:
+    uses: ./.github/workflows/docker-images.yml
+    secrets: inherit
+
+  delete-untagged:
+    runs-on: ubuntu-latest
+    needs:
+      - call-docker-images
+    steps:
+      - name: Delete Untagged Images
+        if: (github.event_name == 'schedule')
+        uses: actions/github-script@v6
+        with:
+          github-token: ${{ secrets.DELETE_PACKAGES_TOKEN }}
+          script: |
+            const response = await github.request("GET /orgs/${{ env.OWNER }}/packages/container/${{ env.PACKAGE_NAME }}/versions", {
+                per_page: ${{ env.PER_PAGE }}
+              });
+            for(version of response.data) {
+                if (version.metadata.container.tags.length == 0) {
+                    console.log("delete " + version.id)
+                    const deleteResponse = await github.request("DELETE /orgs/${{ env.OWNER }}/packages/container/${{ env.PACKAGE_NAME }}/versions/" + version.id, { });
+                    console.log("status " + deleteResponse.status)
+                }
+            }
+        env:
+          OWNER: ${{ github.repository_owner }}
+          PACKAGE_NAME: moveit2_tutorials
+          PER_PAGE: 100