Adds ROS2 Humble to Dockerfile (#443)

# Description This adds a ROS2 Humble installation to the Dockerfile. It also adds several relevant environment variables. ## Type of change - New feature (non-breaking change which adds functionality) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./orbit.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have run all the tests with `./orbit.sh --test` and they pass - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by: Hunter Hansen <[email protected]> Co-authored-by: James Smith <[email protected]>
isaac-sim · Mar 21, 2024 · 95a4927 · 95a4927
1 parent 83d62e2
commit 95a4927
Show file tree

Hide file tree

Showing 9 changed files with 303 additions and 109 deletions.
diff --git a/docker/.env → docker/.env.base b/docker/.env → docker/.env.base
@@ -1,3 +1,7 @@
+###
+# General settings
+###
+
 # Accept the NVIDIA Omniverse EULA by default
 ACCEPT_EULA=Y
 # NVIDIA Isaac Sim version to use (e.g. 2023.1.1, 2023.1.0-hotfix.1)

diff --git a/docker/.env.ros2 b/docker/.env.ros2
@@ -0,0 +1,11 @@
+###
+# ROS2 specific settings
+###
+# Set the version of the ROS2 apt package to install (ros-base, desktop, desktop-full)
+ROS2_APT_PACKAGE=ros-base
+# Se t ROS2 middleware implementation to use (e.g. rmw_fastrtps_cpp, rmw_cyclonedds_cpp)
+RMW_IMPLEMENTATION=rmw_fastrtps_cpp
+# Path to fastdds.xml file to use (only needed when using fastdds)
+FASTRTPS_DEFAULT_PROFILES_FILE=${DOCKER_USER_HOME}/.ros/fastdds.xml
+# Path to cyclonedds.xml file to use (only needed when using cyclonedds)
+CYCLONEDDS_URI=${DOCKER_USER_HOME}/.ros/cyclonedds.xml
diff --git a/docker/.ros/cyclonedds.xml b/docker/.ros/cyclonedds.xml
@@ -0,0 +1,15 @@
+ <?xml version="1.0" encoding="UTF-8" ?>
+<CycloneDDS xmlns="https://cdds.io/config" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="https://cdds.io/config https://raw.githubusercontent.com/eclipse-cyclonedds/cyclonedds/master/etc/cyclonedds.xsd">
+  <Domain id="any">
+    <General>
+      <Interfaces>
+        <NetworkInterface autodetermine="true"/>
+      </Interfaces>
+      <AllowMulticast>true</AllowMulticast>
+    </General>
+    <Discovery>
+      <ParticipantIndex>auto</ParticipantIndex>
+      <MaxAutoParticipantIndex>120</MaxAutoParticipantIndex>
+    </Discovery>
+  </Domain>
+</CycloneDDS>
diff --git a/docker/.ros/fastdds.xml b/docker/.ros/fastdds.xml
@@ -0,0 +1,27 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+
+<license>Copyright (c) 2022, NVIDIA CORPORATION.  All rights reserved.
+NVIDIA CORPORATION and its licensors retain all intellectual property
+and proprietary rights in and to this software, related documentation
+and any modifications thereto.  Any use, reproduction, disclosure or
+distribution of this software and related documentation without an express
+license agreement from NVIDIA CORPORATION is strictly prohibited.</license>
+
+
+<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles" >
+    <transport_descriptors>
+        <transport_descriptor>
+            <transport_id>UdpTransport</transport_id>
+            <type>UDPv4</type>
+        </transport_descriptor>
+    </transport_descriptors>
+
+    <participant profile_name="udp_transport_profile" is_default_profile="true">
+        <rtps>
+            <userTransports>
+                <transport_id>UdpTransport</transport_id>
+            </userTransports>
+            <useBuiltinTransports>false</useBuiltinTransports>
+        </rtps>
+    </participant>
+</profiles>
diff --git a/docker/Dockerfile → docker/Dockerfile.base b/docker/Dockerfile → docker/Dockerfile.base
@@ -8,7 +8,7 @@
 
 # Base image
 ARG ISAACSIM_VERSION
-FROM nvcr.io/nvidia/isaac-sim:${ISAACSIM_VERSION}
+FROM nvcr.io/nvidia/isaac-sim:${ISAACSIM_VERSION} AS base
 
 # Set default RUN shell to bash
 SHELL ["/bin/bash", "-c"]
@@ -20,16 +20,18 @@ LABEL description="Dockerfile for building and running the Orbit framework insid
 # Arguments
 # Path to Isaac Sim root folder
 ARG ISAACSIM_PATH
-# Path to the Docker User Home
+# Home dir of docker user, typically '/root'
 ARG DOCKER_USER_HOME
 
 # Set environment variables
 ENV LANG=C.UTF-8
 ENV DEBIAN_FRONTEND=noninteractive
+# Path to orbit directory
 ENV ORBIT_PATH=/workspace/orbit
 
 # Install dependencies and remove cache
-RUN apt-get update && apt-get install -y --no-install-recommends \
+RUN --mount=type=cache,target=/var/cache/apt \
+    apt-get update && apt-get install -y --no-install-recommends \
     build-essential \
     cmake \
     git \
@@ -66,7 +68,7 @@ RUN touch /bin/nvidia-smi && \
 
 # installing Orbit dependencies
 # use pip caching to avoid reinstalling large packages
-RUN --mount=type=cache,target=/${DOCKER_USER_HOME}/.cache/pip \
+RUN --mount=type=cache,target=${DOCKER_USER_HOME}/.cache/pip \
     ${ORBIT_PATH}/orbit.sh --install --extra
 
 # aliasing orbit.sh and python for convenience

diff --git a/docker/Dockerfile.ros2 b/docker/Dockerfile.ros2
@@ -0,0 +1,34 @@
+# Everything past this stage is to install
+# ROS2 Humble
+FROM orbit-base AS ros2
+
+# Which ROS2 apt package to install
+ARG ROS2_APT_PACKAGE
+# Home of the docker user, generally /root
+ARG DOCKER_USER_HOME
+
+# ROS2 Humble Apt installations
+RUN --mount=type=cache,target=/var/cache/apt \
+    apt-get update && apt-get install -y --no-install-recommends \
+    curl \
+    # Install ROS2 Humble \
+    software-properties-common && \
+    add-apt-repository universe && \
+    curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
+    echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo jammy) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null && \
+    apt-get update && apt-get install -y --no-install-recommends \
+    ros-humble-${ROS2_APT_PACKAGE} \
+    ros-humble-vision-msgs \
+    # Install both FastRTPS and CycloneDDS
+    ros-humble-rmw-cyclonedds-cpp \
+    ros-humble-rmw-fastrtps-cpp \
+    # This includes various dev tools including colcon
+    ros-dev-tools && \
+    apt -y autoremove && apt clean autoclean && \
+    rm -rf /var/lib/apt/lists/* && \
+    # Add sourcing of setup.bash to .bashrc
+    echo "source /opt/ros/humble/setup.bash" >> ${HOME}/.bashrc
+
+# Copy the RMW specifications for ROS2
+# https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_ros.html#enabling-the-ros-bridge-extension
+COPY docker/.ros/ ${DOCKER_USER_HOME}/.ros/
diff --git a/docker/container.sh b/docker/container.sh
@@ -84,7 +84,24 @@ case $mode in
     start)
         echo "[INFO] Building the docker image and starting the container in the background..."
         pushd ${SCRIPT_DIR} > /dev/null 2>&1
-        docker compose --file docker-compose.yaml up --detach --build --remove-orphans
+        # The second argument is interpreted as the profile to use.
+        # We will select the base profile by default.
+        # This will also determine the .env file that is loaded
+        if [ -z "$2" ]; then
+            add_profiles="--profile base"
+            add_envs="--env-file .env.base"
+        else
+            profile="$2"
+            add_profiles="--profile $profile"
+            # We have to load multiple .env files here in order to combine
+            # them for the args from base required for extensions, (i.e. DOCKER_USER_HOME)
+            add_envs="--env-file .env.base --env-file .env.$profile"
+        fi
+        # We have to build the base image as a separate step,
+        # in case we are building a profile which depends
+        # upon
+        docker compose --file docker-compose.yaml --env-file .env.base build orbit-base
+        docker compose --file docker-compose.yaml $add_profiles $add_envs up --detach --build --remove-orphans
         popd > /dev/null 2>&1
         ;;
     enter)
@@ -124,7 +141,17 @@ case $mode in
     stop)
         echo "[INFO] Stopping the launched docker container..."
         pushd ${SCRIPT_DIR} > /dev/null 2>&1
-        docker compose --file docker-compose.yaml down
+        if [ -z "$2" ]; then
+            add_profiles="--profile base"
+            add_envs="--env-file .env.base"
+        else
+            profile="$2"
+            add_profiles="--profile $profile"
+            # We have to load multiple .env files here in order to combine
+            # them for the args from base required for ROS2, (i.e. DOCKER_USER_HOME)
+            add_envs="--env-file .env.base --env-file .env.$profile"
+        fi
+        docker compose --file docker-compose.yaml $add_profiles $add_envs down
         popd > /dev/null 2>&1
         ;;
     push)
@@ -133,10 +160,10 @@ case $mode in
         fi
         # Check if Docker version is greater than 25
         check_docker_version
-        # Check if .env file exists
-        if [ -f $SCRIPT_DIR/.env ]; then
+        # Check if .env.base file exists
+        if [ -f $SCRIPT_DIR/.env.base ]; then
             # source env file to get cluster login and path information
-            source $SCRIPT_DIR/.env
+            source $SCRIPT_DIR/.env.base
             # clear old exports
             sudo rm -r -f /$SCRIPT_DIR/exports
             mkdir -p /$SCRIPT_DIR/exports
@@ -147,21 +174,21 @@ case $mode in
             tar -cvf /$SCRIPT_DIR/exports/orbit.tar orbit.sif
             scp /$SCRIPT_DIR/exports/orbit.tar $CLUSTER_LOGIN:$CLUSTER_SIF_PATH/orbit.tar
         else
-            echo "[Error]: ".env" file not found."
+            echo "[Error]: ".env.base" file not found."
         fi
         ;;
     job)
         # Check if .env file exists
-        if [ -f $SCRIPT_DIR/.env ]; then
+        if [ -f $SCRIPT_DIR/.env.base ]; then
             # Sync orbit code
             echo "[INFO] Syncing orbit code..."
-            source $SCRIPT_DIR/.env
+            source $SCRIPT_DIR/.env.base
             rsync -rh  --exclude="*.git*" --filter=':- .dockerignore'  /$SCRIPT_DIR/.. $CLUSTER_LOGIN:$CLUSTER_ORBIT_DIR
             # execute job script
             echo "[INFO] Executing job script..."
             ssh $CLUSTER_LOGIN "cd $CLUSTER_ORBIT_DIR && sbatch $CLUSTER_ORBIT_DIR/docker/cluster/submit_job.sh" "$CLUSTER_ORBIT_DIR" "${@:2}"
         else
-            echo "[Error]: ".env" file not found."
+            echo "[Error]: ".env.base" file not found."
         fi
         ;;
     *)