From 027e012b9efa8de04e83ecadfc6d05e39e6dc9e8 Mon Sep 17 00:00:00 2001 From: Tully Foote Date: Thu, 4 Nov 2021 17:10:09 -0700 Subject: [PATCH 01/12] clean up docker entrypoints a bit Signed-off-by: Tully Foote --- docker/empty_world/Dockerfile | 10 +++++----- docker/entrypoint.bash | 8 ++++++++ 2 files changed, 13 insertions(+), 5 deletions(-) create mode 100755 docker/entrypoint.bash diff --git a/docker/empty_world/Dockerfile b/docker/empty_world/Dockerfile index 668bfbec..ee088c23 100644 --- a/docker/empty_world/Dockerfile +++ b/docker/empty_world/Dockerfile @@ -107,9 +107,9 @@ RUN [ "/bin/bash" , "-c" , \ && colcon build \ && apt-get -qq clean" ] -SHELL ["/bin/bash", "-c"] +COPY docker/entrypoint.bash / -# start ignition -ENTRYPOINT [ "/bin/bash" , "-c" , \ - "source /home/colcon_ws/install/setup.bash \ - && ign gazebo buoyant_tethys.sdf" ] +# setup ignition environment +ENTRYPOINT ["/entrypoint.bash"] + +CMD ign gazebo buoyant_tethys.sdf diff --git a/docker/entrypoint.bash b/docker/entrypoint.bash new file mode 100755 index 00000000..5eebb3f5 --- /dev/null +++ b/docker/entrypoint.bash @@ -0,0 +1,8 @@ +#!/bin/bash +set -e + +source /home/colcon_ws/install/setup.bash + +exec "$@" + + From 8e2eb8c6684bf13bc8b552ed9f465a05931553bc Mon Sep 17 00:00:00 2001 From: Tully Foote Date: Mon, 22 Nov 2021 18:31:51 -0800 Subject: [PATCH 02/12] enable testing in empty world builds Signed-off-by: Tully Foote --- docker/empty_world/Dockerfile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docker/empty_world/Dockerfile b/docker/empty_world/Dockerfile index ee088c23..cf707249 100644 --- a/docker/empty_world/Dockerfile +++ b/docker/empty_world/Dockerfile @@ -104,7 +104,7 @@ COPY . /home/colcon_ws/src WORKDIR /home/colcon_ws RUN [ "/bin/bash" , "-c" , \ "source ${IGN_WS}/install/setup.bash \ - && colcon build \ + && colcon build --cmake-args='-DBUILD_TESTING=ON' \ && apt-get -qq clean" ] COPY docker/entrypoint.bash / From a4b5afee1274ce0e9c2b81b858a484f53e9717bd Mon Sep 17 00:00:00 2001 From: Tully Foote Date: Mon, 29 Nov 2021 18:03:57 -0800 Subject: [PATCH 03/12] homogenize entry point Signed-off-by: Tully Foote --- docker/entrypoint.bash | 8 +++++++- docker/tests/Dockerfile | 7 +++++-- 2 files changed, 12 insertions(+), 3 deletions(-) diff --git a/docker/entrypoint.bash b/docker/entrypoint.bash index 5eebb3f5..e5621e79 100755 --- a/docker/entrypoint.bash +++ b/docker/entrypoint.bash @@ -1,7 +1,13 @@ #!/bin/bash set -e -source /home/colcon_ws/install/setup.bash +# Empty world dockerfile +if [ -z /home/colcon_ws/install/setup.bash ]; then + source /home/colcon_ws/install/setup.bash +# tests dockerfile +else #if [ -z ~/lrauv_ws/install/setup.bash ]; then + source /home/developer/lrauv_ws/install/setup.bash +fi exec "$@" diff --git a/docker/tests/Dockerfile b/docker/tests/Dockerfile index 78e5e8e6..9cfbfc4c 100644 --- a/docker/tests/Dockerfile +++ b/docker/tests/Dockerfile @@ -72,6 +72,9 @@ COPY . src/lrauv # Build image RUN [ "/bin/bash" , "-c" , "colcon build --cmake-args='-DBUILD_TESTING=true'" ] +COPY docker/entrypoint.bash / +# setup ignition environment +ENTRYPOINT ["/entrypoint.bash"] + # Run tests -RUN [ "/bin/bash" , "-c" , ". ~/lrauv_ws/install/setup.sh; colcon test --event-handlers console_direct+" ] -RUN [ "/bin/bash" , "-c" , ". ~/lrauv_ws/install/setup.sh; colcon test-result" ] +CMD [ "/bin/bash" , "-c" , "colcon test --event-handlers console_direct+; colcon test-result" ] From ee15ffd42d8f30c74a6ec4b3004e93dcc140a10d Mon Sep 17 00:00:00 2001 From: Tully Foote Date: Mon, 29 Nov 2021 18:04:17 -0800 Subject: [PATCH 04/12] Extend readme with my notes Signed-off-by: Tully Foote --- README.md | 39 ++++++++++++++++++++++++++++++++++++++- 1 file changed, 38 insertions(+), 1 deletion(-) diff --git a/README.md b/README.md index f408d350..aafcb27f 100644 --- a/README.md +++ b/README.md @@ -24,7 +24,9 @@ Optionally, you may choose to build this repository using Docker, for convenience. Make sure you have a recent version of [Docker](https://docs.docker.com/) and [nvidia-docker](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/install-guide.html#docker) -installed. Next to get started simply run the following command. +installed. +And [rocker](https://github.com/osrf/rocker) available as debian package `python3-rocker` with the ROS packages. + Next to get started simply run the following command. ``` docker/build_and_run_docker.sh ``` @@ -36,6 +38,41 @@ docker/join.sh mbari_lrauv . /home/colcon_ws/install/setup.bash ``` + +### Empty World from Source + +~ 90 minutes from scratch + +~ 70 seconds with only workspace changes + +``` +cd docker +docker build -t mbari_lrauv -f empty_world/Dockerfile .. +rocker --nvidia --x11 --user mbari_lrauv bash +ign launch lrauv_world.ign +``` + +### Unit tests dockerfile + +Enter test environment + +``` +docker build -t mbari_lrauv_tests -f tests/Dockerfile .. +rocker --nvidia --x11 --user mbari_lrauv_tests bash +``` + +Then run anything you want in the environment, unit tests are in `./build/lrauv_ignition_plugins` +``` +./build/lrauv_ignition_plugins/test_buoyancy_action +``` + +Or the main entry point + +``` +ign launch lrauv_world.ign +``` + + ## To build To run the code in this repository natively without Docker, make sure you have From 8120191e14f2bb75efbeaec0ba04764fce1508d7 Mon Sep 17 00:00:00 2001 From: Tully Foote Date: Mon, 29 Nov 2021 18:06:50 -0800 Subject: [PATCH 05/12] clean up image bloat Signed-off-by: Tully Foote --- docker/tests/Dockerfile | 18 ++++++++++-------- 1 file changed, 10 insertions(+), 8 deletions(-) diff --git a/docker/tests/Dockerfile b/docker/tests/Dockerfile index 9cfbfc4c..4b92565b 100644 --- a/docker/tests/Dockerfile +++ b/docker/tests/Dockerfile @@ -36,9 +36,11 @@ RUN apt-get update \ curl \ gnupg2 \ lsb-release \ + python3-numpy \ tzdata \ - wget \ - python3-numpy + wget\ + && rm -rf /var/lib/apt/lists/* \ + && apt-get -qq clean # Add Ignition's latest packages, which may be more up-to-date than the ones from the MBARI image RUN /bin/sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list' && \ @@ -47,15 +49,15 @@ RUN /bin/sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable # Install and upgrade the latest Ignition binaries RUN apt-get -qq update && apt-get -q -y install \ - ignition-garden && apt-get dist-upgrade -y + ignition-garden\ + && rm -rf /var/lib/apt/lists/* \ + && apt-get -qq clean && apt-get dist-upgrade -y # Install PCL RUN apt-get update \ - && apt-get install -y \ - libpcl-dev - -# Clean up apt -RUN rm -rf /var/lib/apt/lists/* \ + && apt-get install -y \ + libpcl-dev \ + && rm -rf /var/lib/apt/lists/* \ && apt-get -qq clean USER $USERNAME From 160196c685b919cf4f182cabe84dee1ea08be078 Mon Sep 17 00:00:00 2001 From: Tully Foote Date: Mon, 29 Nov 2021 18:07:38 -0800 Subject: [PATCH 06/12] remove image layer Signed-off-by: Tully Foote --- docker/tests/Dockerfile | 7 +------ 1 file changed, 1 insertion(+), 6 deletions(-) diff --git a/docker/tests/Dockerfile b/docker/tests/Dockerfile index 4b92565b..fbbfc625 100644 --- a/docker/tests/Dockerfile +++ b/docker/tests/Dockerfile @@ -35,6 +35,7 @@ RUN apt-get update \ build-essential \ curl \ gnupg2 \ + libpcl-dev \ lsb-release \ python3-numpy \ tzdata \ @@ -53,12 +54,6 @@ RUN apt-get -qq update && apt-get -q -y install \ && rm -rf /var/lib/apt/lists/* \ && apt-get -qq clean && apt-get dist-upgrade -y -# Install PCL -RUN apt-get update \ - && apt-get install -y \ - libpcl-dev \ - && rm -rf /var/lib/apt/lists/* \ - && apt-get -qq clean USER $USERNAME From a1d367e67b38b62dcc914912b3ca19b08e9e708e Mon Sep 17 00:00:00 2001 From: Tully Foote Date: Mon, 29 Nov 2021 18:22:10 -0800 Subject: [PATCH 07/12] clean up comment Signed-off-by: Tully Foote --- docker/tests/Dockerfile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docker/tests/Dockerfile b/docker/tests/Dockerfile index fbbfc625..f6971e54 100644 --- a/docker/tests/Dockerfile +++ b/docker/tests/Dockerfile @@ -66,7 +66,7 @@ RUN rm -rf build log install src/lrauv # Use current version of the code COPY . src/lrauv -# Build image +# Build workspace RUN [ "/bin/bash" , "-c" , "colcon build --cmake-args='-DBUILD_TESTING=true'" ] COPY docker/entrypoint.bash / From cb11e340c66a4500374773d076fdff5f959319a6 Mon Sep 17 00:00:00 2001 From: Tully Foote Date: Mon, 29 Nov 2021 20:34:37 -0800 Subject: [PATCH 08/12] converge dockerfiles Signed-off-by: Tully Foote --- docker/build_and_run_docker.sh | 50 +----------- docker/debug_integration.sh | 54 +------------ docker/debug_integration/Dockerfile | 79 ------------------- docker/entrypoint.bash | 2 + docker/tests/Dockerfile | 4 +- .../debug_integration_mux.yml} | 0 6 files changed, 12 insertions(+), 177 deletions(-) delete mode 100644 docker/debug_integration/Dockerfile rename docker/{debug_integration/mux.yml => tests/debug_integration_mux.yml} (100%) diff --git a/docker/build_and_run_docker.sh b/docker/build_and_run_docker.sh index cb77d3b1..abd2187a 100755 --- a/docker/build_and_run_docker.sh +++ b/docker/build_and_run_docker.sh @@ -23,55 +23,11 @@ # Make sure processes in the container can connect to the x server # Necessary so gazebo can create a context for OpenGL rendering (even headless) -XAUTH=/tmp/.docker.xauth -if [ ! -f $XAUTH ] -then - xauth_list=$(xauth nlist $DISPLAY) - xauth_list=$(sed -e 's/^..../ffff/' <<< "$xauth_list") - if [ ! -z "$xauth_list" ] - then - echo "$xauth_list" | xauth -f $XAUTH nmerge - - else - touch $XAUTH - fi - chmod a+r $XAUTH -fi - -DOCKER_OPTS= - -# Get the current version of docker -DOCKER_VER=$(docker version --format '{{.Server.Version}}') -if dpkg --compare-versions 19.03 gt "$DOCKER_VER" -then - echo "Docker version is less than 19.03, using nvidia-docker2 runtime" - if ! dpkg --list | grep nvidia-docker2 - then - echo "Please either update docker-ce to a version greater than 19.03 or install nvidia-docker2" - exit 1 - fi - DOCKER_OPTS="$DOCKER_OPTS --runtime=nvidia" -else - DOCKER_OPTS="$DOCKER_OPTS --gpus all" -fi - DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )" cd $DIR # Build the docker image -docker build -t mbari_lrauv -f $DIR/empty_world/Dockerfile .. +docker build -t mbari_lrauv -f $DIR/tests/Dockerfile .. + +rocker --nvidia --x11 --user --user-override-name=developer --user-preserve-home -- mbari_lrauv -# Run the image -docker run -it \ - -e DISPLAY \ - -e QT_X11_NO_MITSHM=1 \ - -e XAUTHORITY=$XAUTH \ - -v "$XAUTH:$XAUTH" \ - -v "/tmp/.X11-unix:/tmp/.X11-unix" \ - -v "/etc/localtime:/etc/localtime:ro" \ - -v "/dev/input:/dev/input" \ - --network host \ - --rm \ - --privileged \ - --security-opt seccomp=unconfined \ - $DOCKER_OPTS \ - mbari_lrauv diff --git a/docker/debug_integration.sh b/docker/debug_integration.sh index 88c617be..4d5fbdf7 100755 --- a/docker/debug_integration.sh +++ b/docker/debug_integration.sh @@ -23,60 +23,14 @@ # Make sure processes in the container can connect to the x server # Necessary so gazebo can create a context for OpenGL rendering (even headless) -XAUTH=/tmp/.docker.xauth -if [ ! -f $XAUTH ] -then - xauth_list=$(xauth nlist $DISPLAY) - xauth_list=$(sed -e 's/^..../ffff/' <<< "$xauth_list") - if [ ! -z "$xauth_list" ] - then - echo "$xauth_list" | xauth -f $XAUTH nmerge - - else - touch $XAUTH - fi - chmod a+r $XAUTH -fi -DOCKER_OPTS= - -# Get the current version of docker -DOCKER_VER=$(docker version --format '{{.Server.Version}}') -if dpkg --compare-versions 19.03 gt "$DOCKER_VER" -then - echo "Docker version is less than 19.03, using nvidia-docker2 runtime" - if ! dpkg --list | grep nvidia-docker2 - then - echo "Please either update docker-ce to a version greater than 19.03 or install nvidia-docker2" - exit 1 - fi - DOCKER_OPTS="$DOCKER_OPTS --runtime=nvidia" -else - DOCKER_OPTS="$DOCKER_OPTS --gpus all" -fi +# exit if the docker image doesn't build +set -e DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )" cd $DIR - -# exit if the docker image doesn't build -set -e - # Build the docker image -docker build -t mbari_lrauv_debug -f $DIR/debug_integration/Dockerfile .. +docker build -t mbari_lrauv_tests -f $DIR/tests/Dockerfile .. -# Run the image -docker run -it \ - -e DISPLAY \ - -e QT_X11_NO_MITSHM=1 \ - -e XAUTHORITY=$XAUTH \ - -v "$XAUTH:$XAUTH" \ - -v "/tmp/.X11-unix:/tmp/.X11-unix" \ - -v "/etc/localtime:/etc/localtime:ro" \ - -v "/dev/input:/dev/input" \ - -v "$DIR/../../results:/results"\ - --network host \ - --rm \ - --privileged \ - --security-opt seccomp=unconfined \ - $DOCKER_OPTS \ - mbari_lrauv_debug +rocker --nvidia --x11 --user --user-override-name=developer --user-preserve-home -- mbari_lrauv_tests tmuxinator start debug_and_plot -n debug_session -p src/lrauv/docker/tests/debug_integration_mux.yml \ No newline at end of file diff --git a/docker/debug_integration/Dockerfile b/docker/debug_integration/Dockerfile deleted file mode 100644 index 07512996..00000000 --- a/docker/debug_integration/Dockerfile +++ /dev/null @@ -1,79 +0,0 @@ -# -# Copyright (C) 2021 Open Source Robotics Foundation -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. -# - -# -# Development of this module has been funded by the Monterey Bay Aquarium -# Research Institute (MBARI) and the David and Lucile Packard Foundation -# - -FROM mbari/lrauv-ignition-sim:garden - -USER root - -# This avoids keyboard interaction when asked for geographic area -ARG DEBIAN_FRONTEND=noninteractive - -# setup timezone -RUN echo 'Etc/UTC' > /etc/timezone && \ - ln -fs /usr/share/zoneinfo/Etc/UTC /etc/localtime - -RUN apt-get update \ - && apt-get install -y \ - build-essential \ - curl \ - gnupg2 \ - lsb-release \ - tzdata \ - wget \ - python3-numpy - -# Add Ignition's latest packages, which may be more up-to-date than the ones from the MBARI image -RUN /bin/sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list' && \ - /bin/sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-nightly `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-nightly.list' && \ - /bin/sh -c 'wget http://packages.osrfoundation.org/gazebo.key -O - | apt-key add -' - -# Install the latest Ignition binaries -RUN apt-get -qq update && apt-get -q -y install \ - ignition-garden python3-numpy - -# Install PCL -RUN apt-get update \ - && apt-get install -y \ - libpcl-dev tmux tmuxinator - -# Clean up apt -RUN rm -rf /var/lib/apt/lists/* \ - && apt-get -qq clean - -USER $USERNAME - -# We're in /home/developer/lrauv_ws/src/lrauv-application, go back to ~/lrauv_ws -WORKDIR ../.. - -# Clean up colcon workspace -RUN rm -rf build log install src/lrauv - -# Use current version of the code: Change to local branch if needed. -COPY . src/lrauv - -# Build image -RUN [ "/bin/bash" , "-c" , "colcon build --cmake-args='-DBUILD_TESTING=true'" ] - -# Run tests -# RUN [ "/bin/bash" , "-c" , ". ~/lrauv_ws/install/setup.sh; colcon test --event-handlers console_direct+" ] -# RUN [ "/bin/bash" , "-c" , ". ~/lrauv_ws/install/setup.sh; colcon test-result" ]" - -ENTRYPOINT tmuxinator start debug_and_plot -n debug_session -p src/lrauv/docker/debug_integration/mux.yml diff --git a/docker/entrypoint.bash b/docker/entrypoint.bash index e5621e79..083a7115 100755 --- a/docker/entrypoint.bash +++ b/docker/entrypoint.bash @@ -7,6 +7,8 @@ if [ -z /home/colcon_ws/install/setup.bash ]; then # tests dockerfile else #if [ -z ~/lrauv_ws/install/setup.bash ]; then source /home/developer/lrauv_ws/install/setup.bash + # Make sure we're in the right workingdir + cd /home/developer/lrauv_ws fi exec "$@" diff --git a/docker/tests/Dockerfile b/docker/tests/Dockerfile index f6971e54..8fa43f5e 100644 --- a/docker/tests/Dockerfile +++ b/docker/tests/Dockerfile @@ -38,8 +38,10 @@ RUN apt-get update \ libpcl-dev \ lsb-release \ python3-numpy \ + tmux \ + tmuxinator \ tzdata \ - wget\ + wget \ && rm -rf /var/lib/apt/lists/* \ && apt-get -qq clean diff --git a/docker/debug_integration/mux.yml b/docker/tests/debug_integration_mux.yml similarity index 100% rename from docker/debug_integration/mux.yml rename to docker/tests/debug_integration_mux.yml From 5ae6c73ac5704b68561faf4eafa34ca0ec04a765 Mon Sep 17 00:00:00 2001 From: Tully Foote Date: Tue, 30 Nov 2021 23:56:44 -0800 Subject: [PATCH 09/12] Run the tests now that they're not run as part of the build Signed-off-by: Tully Foote --- .github/workflows/integration_tests.yaml | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/.github/workflows/integration_tests.yaml b/.github/workflows/integration_tests.yaml index eed1445e..71bdb6a0 100644 --- a/.github/workflows/integration_tests.yaml +++ b/.github/workflows/integration_tests.yaml @@ -13,5 +13,7 @@ jobs: sudo rm -rf /opt/ghc - name: Check out code uses: actions/checkout@v2 - - name: Compile and run tests + - name: Compile tests run: docker build -t mbari_lrauv . -f docker/tests/Dockerfile + - name: Run tests + run: docker run --rm mbari_lrauv \ No newline at end of file From 894381558c512b69f66ee8649864a3a0f16dc3f9 Mon Sep 17 00:00:00 2001 From: Tully Foote Date: Thu, 2 Dec 2021 01:27:02 -0800 Subject: [PATCH 10/12] add newline at EOF Signed-off-by: Tully Foote --- .github/workflows/integration_tests.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/integration_tests.yaml b/.github/workflows/integration_tests.yaml index 71bdb6a0..f924ab57 100644 --- a/.github/workflows/integration_tests.yaml +++ b/.github/workflows/integration_tests.yaml @@ -16,4 +16,4 @@ jobs: - name: Compile tests run: docker build -t mbari_lrauv . -f docker/tests/Dockerfile - name: Run tests - run: docker run --rm mbari_lrauv \ No newline at end of file + run: docker run --rm mbari_lrauv From 595ee1c69e0d36c8bf86a8f2cc200cebae5ecc38 Mon Sep 17 00:00:00 2001 From: Tully Foote Date: Thu, 2 Dec 2021 01:37:43 -0800 Subject: [PATCH 11/12] avoid shorthand mention of how to install rocker Signed-off-by: Tully Foote --- README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index aafcb27f..5392c128 100644 --- a/README.md +++ b/README.md @@ -25,8 +25,8 @@ convenience. Make sure you have a recent version of [Docker](https://docs.docker.com/) and [nvidia-docker](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/install-guide.html#docker) installed. -And [rocker](https://github.com/osrf/rocker) available as debian package `python3-rocker` with the ROS packages. - Next to get started simply run the following command. +And [rocker](https://github.com/osrf/rocker) installed. + ``` docker/build_and_run_docker.sh ``` From 04fe7b1e8e6acc21402c501048438323893d4c15 Mon Sep 17 00:00:00 2001 From: Tully Foote Date: Mon, 6 Dec 2021 15:35:32 -0800 Subject: [PATCH 12/12] update image name to be osrf_lrauv from mbari_lrauv Following up feedback in review Signed-off-by: Tully Foote --- .github/workflows/integration_tests.yaml | 4 ++-- README.md | 10 +++++----- docker/build_and_run_docker.sh | 4 ++-- docker/debug_integration.sh | 4 ++-- 4 files changed, 11 insertions(+), 11 deletions(-) diff --git a/.github/workflows/integration_tests.yaml b/.github/workflows/integration_tests.yaml index f924ab57..2611ef60 100644 --- a/.github/workflows/integration_tests.yaml +++ b/.github/workflows/integration_tests.yaml @@ -14,6 +14,6 @@ jobs: - name: Check out code uses: actions/checkout@v2 - name: Compile tests - run: docker build -t mbari_lrauv . -f docker/tests/Dockerfile + run: docker build -t osrf_lrauv . -f docker/tests/Dockerfile - name: Run tests - run: docker run --rm mbari_lrauv + run: docker run --rm osrf_lrauv diff --git a/README.md b/README.md index 5392c128..f790fe44 100644 --- a/README.md +++ b/README.md @@ -33,7 +33,7 @@ docker/build_and_run_docker.sh To join in a separate terminal, remember to source Ignition and the workspace: ``` -docker/join.sh mbari_lrauv +docker/join.sh osrf_lrauv . /home/ign_ws/install/setup.bash . /home/colcon_ws/install/setup.bash ``` @@ -47,8 +47,8 @@ docker/join.sh mbari_lrauv ``` cd docker -docker build -t mbari_lrauv -f empty_world/Dockerfile .. -rocker --nvidia --x11 --user mbari_lrauv bash +docker build -t osrf_lrauv -f empty_world/Dockerfile .. +rocker --nvidia --x11 --user osrf_lrauv bash ign launch lrauv_world.ign ``` @@ -57,8 +57,8 @@ ign launch lrauv_world.ign Enter test environment ``` -docker build -t mbari_lrauv_tests -f tests/Dockerfile .. -rocker --nvidia --x11 --user mbari_lrauv_tests bash +docker build -t osrf_lrauv_tests -f tests/Dockerfile .. +rocker --nvidia --x11 --user osrf_lrauv_tests bash ``` Then run anything you want in the environment, unit tests are in `./build/lrauv_ignition_plugins` diff --git a/docker/build_and_run_docker.sh b/docker/build_and_run_docker.sh index abd2187a..b393fba2 100755 --- a/docker/build_and_run_docker.sh +++ b/docker/build_and_run_docker.sh @@ -27,7 +27,7 @@ DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )" cd $DIR # Build the docker image -docker build -t mbari_lrauv -f $DIR/tests/Dockerfile .. +docker build -t osrf_lrauv -f $DIR/tests/Dockerfile .. -rocker --nvidia --x11 --user --user-override-name=developer --user-preserve-home -- mbari_lrauv +rocker --nvidia --x11 --user --user-override-name=developer --user-preserve-home -- osrf_lrauv diff --git a/docker/debug_integration.sh b/docker/debug_integration.sh index 4d5fbdf7..ee47e18a 100755 --- a/docker/debug_integration.sh +++ b/docker/debug_integration.sh @@ -31,6 +31,6 @@ DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )" cd $DIR # Build the docker image -docker build -t mbari_lrauv_tests -f $DIR/tests/Dockerfile .. +docker build -t osrf_lrauv_tests -f $DIR/tests/Dockerfile .. -rocker --nvidia --x11 --user --user-override-name=developer --user-preserve-home -- mbari_lrauv_tests tmuxinator start debug_and_plot -n debug_session -p src/lrauv/docker/tests/debug_integration_mux.yml \ No newline at end of file +rocker --nvidia --x11 --user --user-override-name=developer --user-preserve-home -- osrf_lrauv_tests tmuxinator start debug_and_plot -n debug_session -p src/lrauv/docker/tests/debug_integration_mux.yml \ No newline at end of file