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added docker example #42

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added docker example
JohnRudolfLewis Nov 6, 2024
186d531
Merge branch 'main' into docker-example
JohnRudolfLewis Nov 18, 2024
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17 changes: 17 additions & 0 deletions examples/MODULE.bazel
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,8 @@ bazel_dep(name = "rules_python", version = "0.38.0")
bazel_dep(name = "boost.any", version = "1.83.0")
bazel_dep(name = "boost.smart_ptr", version = "1.83.0.bcr.1")
bazel_dep(name = "boost.thread", version = "1.83.0")
bazel_dep(name = "rules_oci", version = "2.0.1")
bazel_dep(name = "rules_pkg", version = "1.0.1")

# This import is relevant for these examples and this (rules_ros) repository.
bazel_dep(name = "rules_ros")
Expand Down Expand Up @@ -44,3 +46,18 @@ use_repo(
"urdfdom",
"urdfdom_headers",
)

# in order to build an oci image with our ros nodes in it, one
# needs to define the base image to use, and that must be performed
# at the module level here.
# NOTE: Even though the version of python that the nodes run in is contained
# in the runfiles, a version of python is required at the system level in order
# to run the roslaunch command.
oci = use_extension("@rules_oci//oci:extensions.bzl", "oci")
oci.pull(
name = "rules_ros_base_image",
image = "python:3.10-bookworm",
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@mvukov mvukov Nov 24, 2024

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IMO this is an overkill, as we need system python (-like app) to bootstrap the Bazel-managed Python. You could fetch https://raw.githubusercontent.com/buildbarn/bb-remote-execution/96c4fdce659fabfaba7ee2a60fd4e2ffab8352e2/cmd/fake_python/main.go with http_file, compile it using rules_go and inject it into the output image as e.g. /usr/bin/python3 (using ubuntu:22.04 image in this case should be sufficient).

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@JohnRudolfLewis JohnRudolfLewis Dec 4, 2024

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perhaps overkill.... but needing to replicate your suggestion in each and every repo feels way to repetitive. Could we bake this into rules_ros or better yet, rules_python?

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@hofbi hofbi Dec 4, 2024

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why not use ubuntu:22.04 as base image?

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@JohnRudolfLewis JohnRudolfLewis Dec 5, 2024

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I don't think ubuntu:22.04 includes a python.

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@hofbi hofbi Dec 5, 2024

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Really? I thought it comes with 3.10

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@JohnRudolfLewis JohnRudolfLewis Dec 5, 2024

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Does not appear that the image does.

oci = use_extension("@rules_oci//oci:extensions.bzl", "oci")
oci.pull(
    name = "rules_ros_base_image",
    image = "ubuntu:22.04",
    platforms = ["linux/amd64"],
)
use_repo(oci, "rules_ros_base_image", "rules_ros_base_image_linux_amd64")

$ docker run -ti --rm chatter:latest
/usr/bin/env: 'python3': No such file or directory

digest = "sha256:fd0fa50d997eb56ce560c6e5ca6a1f5cf8fdff87572a16ac07fb1f5ca01eb608",
platforms = ["linux/amd64"],
)
use_repo(oci, "rules_ros_base_image", "rules_ros_base_image_linux_amd64")
40 changes: 40 additions & 0 deletions examples/chatter/BUILD.bazel
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Expand Up @@ -19,6 +19,12 @@ load("@rules_ros//ros:launch.bzl", "ros_launch")
load("@rules_ros//ros:test.bzl", "ros_test")
load("@rules_ros//ros:topic.bzl", "ros_topic")
load("@rules_ros//third_party:expand_template.bzl", "expand_template")
load(
"@rules_oci//oci:defs.bzl",
"oci_image",
"oci_load"
)
load("@rules_pkg//pkg:pkg.bzl", "pkg_tar")

# Handling of ROS messages & services resembles to some extent Bazel's rules for
# handling protobuf messages (e.g. proto_library and cc_proto_library).
Expand Down Expand Up @@ -127,3 +133,37 @@ ros_topic(
name = "rostopic",
deps = [":chatter"],
)


# packages up the nodes, launch file, and all the other required runfiles.
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@mvukov mvukov Nov 24, 2024

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rules_oci have a good example for to structure python apps, see https://github.com/aspect-build/bazel-examples/tree/main/oci_python_image, py_layer.bzl file in particular. Maybe not for this PR, but it's a nice optimization.

# Note the symlink is required in order to place the files where ros_launch is
# expecting them to be.
pkg_tar(
name = "chatter_tar",
srcs = [
":chatter",
],
include_runfiles = True,
package_dir = "chatter",
symlinks = {
"/chatter/chatter.runfiles/_main/external": "/chatter/chatter.runfiles",
}
Comment on lines +148 to +150
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@mvukov mvukov Nov 24, 2024

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If you specify the workdir down below, you shoudn't need this symlink. Please double-check.

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@JohnRudolfLewis JohnRudolfLewis Dec 4, 2024

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Without the symlink, an error occurs:

RLException: Invalid roslaunch XML syntax: [Errno 2] No such file or directory: 'external/rules_ros~/third_party/ros/roslaunch/roscore.xml'
The traceback for the exception was written to the log file

Something is expecting all the runfiles to be in an 'external' directory below the working directory.

)

# builds the oci image on top of the @rules_ros_base_image defined at the MODULE level.
oci_image(
name = "chatter_oci_image",
base = "@rules_ros_base_image",
tars = [":chatter_tar"],
workdir = "/chatter/chatter.runfiles/_main",
entrypoint = ["/chatter/chatter"],
)

# loads the oci image into the docker daemon.
# Example usage: `bazel run //chatter:chatter_oci_load`
# Then to run the container: `docker run -it --rm chatter:latest`
oci_load(
name = "chatter_oci_load",
image = ":chatter_oci_image",
repo_tags = ["chatter:latest"],
)