ROS-Docker

Comprehensive Docker Image for the development environment of the Autonomous System at KA-RaceIng.

Prerequisites • Docker Usage • Docker Compose Setup • Running with VSCode • License

Prerequisites

Docker and Docker Compose

Docker is required to run the image in this repo. Installing Docker Compose is also highly recommended.

Ubuntu: follow these instructions
Arch Linux:

sudo pacman -S docker docker-compose
sudo systemctl enable docker
# after this reboot system or manually start the docker service via the following
sudo systemctl start docker

Docker Usage

The image can be pulled from Github Packages

docker pull ghcr.io/ka-raceing/ros-docker

It can then be run via docker run

docker run --name ka-raceing_ros -itd ghcr.io/ka-raceing/ros-docker

After that the container's bash shell can be accessed via

docker exec -it ka-raceing_ros bash

Also it is possible to perform actions like mounting external directories via docker run parameters it is recommended to use docker-compose for more advanced setups.

Docker Compose Setup

with mounted workspace

version: '3'

services:
  ros-docker:
    image: ghcr.io/ka-raceing/ros-docker
    network_mode: host
    volumes:
      # the workspace
      - <path_to_ws>:<desired_path_in_container>
    command: /bin/sh -c "while sleep 1000; do :; done"

including graphic support (e.g. for RViz)

version: '3'

services:
  ros-docker:
    image: ghcr.io/ka-raceing/ros-docker
    mem_limit: 4g #avoid bricking your device with a rviz memory overrun
    environment:
      - QT_X11_NO_MITSHM=1
      - DISPLAY=$DISPLAY
    devices:
      # this is a workaround, cause there isn't an option that works with different gpu manufacturers yet (https://github.com/docker/cli/issues/2063)
      - /dev/dri/card0:/dev/dri/card0 
    ulimits: # https://answers.ros.org/question/336963/rosout-high-memory-usage/
      nofile:
        soft: 1024
        hard: 524288 
    privileged: true #for graphics permissions
    network_mode: host
    volumes:
      # for GUI applications (e.g. RViz)
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
      - ~/.Xauthority:/root/.Xauthority:ro
    command: /bin/sh -c "while sleep 1000; do :; done"

including external PCAN driver

version: '3'

services:
  ros-docker:
    image: ghcr.io/ka-raceing/ros-docker
    network_mode: host
    volumes:
      # pcan (host paths may be different)
      - /usr/include/libpcan.h:/usr/include/libpcan.h:ro
      - /usr/include/pcan.h:/usr/include/pcan.h:ro
      - /usr/include/libpcanfd.h:/usr/include/libpcanfd.h:ro
      - /usr/include/pcanfd.h:/usr/include/pcanfd.h:ro
      - /usr/lib/libpcan.so:/usr/lib/libpcan.so:ro
      - /usr/lib/libpcanbasic.so:/usr/lib/libpcanbasic.so:ro
      - /usr/lib/libpcanfd.so:/usr/lib/libpcanfd.so:ro
    command: /bin/sh -c "while sleep 1000; do :; done"

including external `.bashrc` file

version: '3'

services:
  ros-docker:
    image: ghcr.io/ka-raceing/ros-docker
    network_mode: host
    volumes:
      #bashrc
      - ~/.bashrc:/root/.bashrc:ro
    command: /bin/sh -c "while sleep 1000; do :; done"

everything together

version: '3'

services:
  ros-docker:
    image: ghcr.io/ka-raceing/ros-docker
    mem_limit: 4g #avoid bricking your device with a rviz memory overrun
    environment:
      - QT_X11_NO_MITSHM=1
      - DISPLAY=$DISPLAY
    devices:
      # this is a workaround, cause there isn't an option that works with different gpu manufacturers yet (https://github.com/docker/cli/issues/2063)
      - /dev/dri/card0:/dev/dri/card0 
    ulimits: # https://answers.ros.org/question/336963/rosout-high-memory-usage/
      nofile:
        soft: 1024
        hard: 524288 
    privileged: true #for graphics permissions
    network_mode: host
    volumes:
      # the workspace
      - <path_to_ws>:<desired_path_in_container>
      # pcan (host paths may be different)
      - /usr/include/libpcan.h:/usr/include/libpcan.h:ro
      - /usr/include/pcan.h:/usr/include/pcan.h:ro
      - /usr/include/libpcanfd.h:/usr/include/libpcanfd.h:ro
      - /usr/include/pcanfd.h:/usr/include/pcanfd.h:ro
      - /usr/lib/libpcan.so:/usr/lib/libpcan.so:ro
      - /usr/lib/libpcanbasic.so:/usr/lib/libpcanbasic.so:ro
      - /usr/lib/libpcanfd.so:/usr/lib/libpcanfd.so:ro
      # for GUI applications (e.g. RViz)
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
      - ~/.Xauthority:/root/.Xauthority:ro
      #bashrc
      - ~/.bashrc:/root/.bashrc:ro

    command: /bin/sh -c "while sleep 1000; do :; done"

Running with VSCode

Using the Remote Development Plugin for VSCode enables you to create and work inside a Docker Container as if you were working on your own machine. An example for the required .devcontainer.json file would be

{
    "name": "ros-docker_container",
    "service": "ros-docker",
    "dockerComposeFile": "./docker-compose.yaml",
    "workspaceFolder": "<path_to_the_ws_folder_inside_the_container>",
    "shutdownAction": "stopCompose"
}

Any Extensions that should be pre-installed can be installed at this point. We would recommend installing the ROS and C++ Plugins

{
    "name": "ros-docker_container",
    "service": "ros-docker",
    "dockerComposeFile": "./docker-compose.yaml",
    "customizations": {
            "vscode": {
                "extensions": [
                    "ms-iot.vscode-ros",
                    "ms-vscode.cpptools-extension-pack"
                ]
            }
        },
    "workspaceFolder": "<path_to_the_ws_folder_inside_the_container>",
    "shutdownAction": "stopCompose"
}

License

GNU GPL v3

ka-raceing / ros-docker Goto Github PK

ros-docker's Introduction

ROS-Docker

Comprehensive Docker Image for the development environment of the Autonomous System at KA-RaceIng.

Prerequisites

Docker and Docker Compose

Docker Usage

Docker Compose Setup

with mounted workspace

including graphic support (e.g. for RViz)

including external PCAN driver

including external .bashrc file

everything together

Running with VSCode

License

ros-docker's People

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including external `.bashrc` file