Improvements to documentation and docker setups from my getting spun up

.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
-      run: docker build -t mbari_lrauv . -f docker/tests/Dockerfile
+    - name: Compile tests
+      run: docker build -t osrf_lrauv . -f docker/tests/Dockerfile
+    - name: Run tests
+      run: docker run --rm osrf_lrauv

README.md

@@ -24,18 +24,55 @@ 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) installed.
+
 ```
 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
 ```
 
+
+### Empty World from Source
+
+~ 90 minutes from scratch
+
+~ 70 seconds with only workspace changes
+
+```
+cd docker
+docker build -t osrf_lrauv -f empty_world/Dockerfile ..
+rocker --nvidia --x11 --user osrf_lrauv bash
+ign launch lrauv_world.ign
+```
+
+### Unit tests dockerfile
+
+Enter test environment
+
+```
+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`
+```
+./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

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 osrf_lrauv -f $DIR/tests/Dockerfile ..
+
+rocker --nvidia --x11 --user --user-override-name=developer --user-preserve-home --  osrf_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

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 osrf_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 -- osrf_lrauv_tests tmuxinator start debug_and_plot -n debug_session -p src/lrauv/docker/tests/debug_integration_mux.yml

docker/empty_world/Dockerfile

@@ -104,12 +104,12 @@ 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" ]
 
-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

docker/entrypoint.bash

@@ -0,0 +1,16 @@
+#!/bin/bash
+set -e
+
+# 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
+    # Make sure we're in the right workingdir
+    cd /home/developer/lrauv_ws
+fi
+
+exec "$@"
+
+

docker/tests/Dockerfile

@@ -35,10 +35,15 @@ RUN apt-get update \
         build-essential \
         curl \
         gnupg2 \
+        libpcl-dev \
         lsb-release \
+        python3-numpy \
+        tmux \
+        tmuxinator \
         tzdata \
         wget \
-        python3-numpy
+  && 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' && \
@@ -47,16 +52,10 @@ 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
-
-# Install PCL
-RUN apt-get update \
- && apt-get install -y \
-        libpcl-dev
+  ignition-garden\
+  && rm -rf /var/lib/apt/lists/* \
+  && apt-get -qq clean && apt-get dist-upgrade -y
 
-# Clean up apt
-RUN rm -rf /var/lib/apt/lists/* \
-  && apt-get -qq clean
 
 USER $USERNAME
 
@@ -69,9 +68,12 @@ 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 /
+# 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" ]