Update docker compose file

[nikhil-sethi]

A build dockerfile is added to build the scancontrol package, save as an image and run the node as a service

To test, run docker compose up in the .docker directory

[katettudelft]

To test, run docker compose up in the root directory

Running docker compose up in the repo root, I get the following error:

[katet][🌍 kate-mint]scancontrol [ compose_update]
❯ docker compose up 
no configuration file provided: not found
exit status 1

I don't see a top-level docker-compose.yaml in the repo root. Is it in /.docker/ by mistake?

[katettudelft]

Running docker compose up in the .docker directory gives me the following warning:

WARN[0000] The "PUID" variable is not set. Defaulting to a blank string. 
WARN[0000] The "PGID" variable is not set. Defaulting to a blank string. 
WARN[0000] The "PUID" variable is not set. Defaulting to a blank string. 
WARN[0000] The "PGID" variable is not set. Defaulting to a blank string.

A default value should be set in the compose file or the .env file if possible.

It does attempt to pull from the registry before building, but I don't think you've pushed it there yet. Is that correct?

[nikhil-sethi]

It does attempt to pull from the registry before building, but I don't think you've pushed it there yet. Is that correct?

It's already there

[nikhil-sethi]

I don't see a top-level docker-compose.yaml in the repo root. Is it in /.docker/ by mistake?

Updated PR description

[katettudelft]

I should also add, after running compose up (and I've tested this both with and without the explicit --build flag), I'm left with two containers:

• scancontrol-build (running)
• scancontrol-service (stopped)

It seems like build never stops, my terminal seems stuck on this point:

[+] Running 3/4
 ✔ scancontrol-build              Built    0.0s 
 ✔ Network scancontrol_default    Created  0.0s 
 ⠴ Container scancontrol-build    Waiting  1297.9s 
 ✔ Container scancontrol-service  Created  0.0s

Having run it again, it has completed this time, leaving me with two stopped containers. What's the expected outcome? I had assumed it should be just one running container.

[katettudelft]

It's already there

That's scancontrol:humble-base, which was last pushed on 2024-11-22. Are you sure that's the one?

The specific error I get is cut off, but starts with:

 ✘ scancontrol-service Error pull access denied for scancontrol, repository does not exist or may require 'docker login': denied: re... 

I've checked, I'm authenticated with the registry and can pull other images. I think perhaps the tag is wrong.

[katettudelft]

I'd like to ask you a bit more about this on Monday, especially the build problems I'm seeing, but I'm trying to keep this to a light touch for now.

[katettudelft]

So you're not using the original Dockerfile at all now? I thought you needed it for the drivers, aravis etc.

[nikhil-sethi]

This is based on your preference to move towards a registry-based setup. The used image has all the drivers and the ros user as well.

IMO using our own organization registry in this repository is not a good idea and a building from scratch like in commit b23e76b would be better. Let me know what you think

[katettudelft]

Ah, okay. I didn't think we had a registry version of that image from our earlier conversation.

IMO using our own organization registry in this repository is not a good idea and a building from scratch like in commit b23e76b would be better

Since this is a public repo, rather than one of our internal ones, I agree entirely.

[nikhil-sethi]

Built and ran after cleaning full docker install with docker system prune -a. Expected result:

nikhil@ubuntu:~/scancontrol/.docker$ docker compose up
[+] Running 2/2
 ! scancontrol-build Warning pull access denied for scancontrol, repository does not exist or may require 'docker login': denied: requested ...                            1.1s 
 ✘ scancontrol-service Error pull access denied for scancontrol, repository does not exist or may require 'docker login': denied: requested ...                            1.1s 
[+] Building 145.5s (15/15) FINISHED                                                                                                                                                         docker:default
 => [scancontrol-build internal] load build definition from build.Dockerfile                                                                                                                           0.0s
 => => transferring dockerfile: 899B                                                                                                                                                                   0.0s
 => [scancontrol-build internal] load metadata for registry.tudelft.nl/samxl/scancontrol:humble-base                                                                                                   0.2s
 => [scancontrol-build auth] samxl/scancontrol:pull token for registry.tudelft.nl                                                                                                                      0.0s
 => [scancontrol-build internal] load .dockerignore                                                                                                                                                    0.0s
 => => transferring context: 2B                                                                                                                                                                        0.0s
 => [scancontrol-build 1/8] FROM registry.tudelft.nl/samxl/scancontrol:humble-base@sha256:9f7730177439eb1e1d130b18b4f0f1c462567cae09317952429fcc9e4ad562fb                                            23.2s
 => => resolve registry.tudelft.nl/samxl/scancontrol:humble-base@sha256:9f7730177439eb1e1d130b18b4f0f1c462567cae09317952429fcc9e4ad562fb                                                               0.0s
 => => sha256:7478e0ac0f23f94b2f27848fbcdf804a670fbf8d4bab26df842d40a10cd33059 30.44MB / 30.44MB                                                                                                       3.3s
 => => sha256:9f7730177439eb1e1d130b18b4f0f1c462567cae09317952429fcc9e4ad562fb 3.06kB / 3.06kB                                                                                                         0.0s
 => => sha256:64c1e367d2c4dd5ee27bf7de101f8a5375cd32e0c78aaf62c8575c0e6b6b6d85 3.62MB / 3.62MB                                                                                                         0.8s
 => => sha256:5e134650a58527f750ae8240053485a2f137352ecf756235b1e1e6fdb2e58bd5 1.21MB / 1.21MB                                                                                                         0.4s
 => => sha256:1a120236c94d2f3d4924a01643ced635af55b3f533c7670cb9839091ae75286e 7.87kB / 7.87kB                                                                                                         0.0s
 => => sha256:41d91075c9ed31da02a9b4c33814db9286e4b1b259d48c139ab0c58bb41ea233 106.53MB / 106.53MB                                                                                                    14.8s
 => => sha256:e6852c2b80f647da68213c7078cdb71485445219e260e3465e6f38a0bb1ad627 272B / 272B                                                                                                             0.4s
 => => sha256:b33f588ed24bdf5fad71de96bbb5b7fc275fda37756cef0ed01956e6f35ebb4a 2.00kB / 2.00kB                                                                                                         0.4s
 => => sha256:a863eb46d7bd75292ab0d348f61c94a87a3bbc4b8f9e85de0b64e48d58b405c0 88.42MB / 88.42MB                                                                                                      12.7s
 => => sha256:6410a8272a83deb81f823b1cb3bf041f95c7d711601610c50de02837a1fab738 196B / 196B                                                                                                             0.8s
 => => extracting sha256:7478e0ac0f23f94b2f27848fbcdf804a670fbf8d4bab26df842d40a10cd33059                                                                                                              0.5s
 => => sha256:1ff08693425edbca91dac49ca47f5fc1e05dd11e2840dd02e9406afc2055ab96 414.64kB / 414.64kB                                                                                                     3.4s
 => => sha256:ea61bef0ad5b98451682b2b28d864a33e7ba8bde7ef5f2df09c0be0d78115f5f 25.01MB / 25.01MB                                                                                                       6.5s
 => => extracting sha256:5e134650a58527f750ae8240053485a2f137352ecf756235b1e1e6fdb2e58bd5                                                                                                              0.2s
 => => extracting sha256:64c1e367d2c4dd5ee27bf7de101f8a5375cd32e0c78aaf62c8575c0e6b6b6d85                                                                                                              0.0s
 => => extracting sha256:b33f588ed24bdf5fad71de96bbb5b7fc275fda37756cef0ed01956e6f35ebb4a                                                                                                              0.0s
 => => extracting sha256:e6852c2b80f647da68213c7078cdb71485445219e260e3465e6f38a0bb1ad627                                                                                                              0.0s
 => => sha256:3b590f2d659b06f61ff68758545acc73d484e3ab70cec997a658b79f67184bed 1.33MB / 1.33MB                                                                                                         6.7s
 => => sha256:8186b5322dab315b9ed9e4f586a2d1af0fb8dba8b1bc81b6e29139891994e6ec 10.81MB / 10.81MB                                                                                                       8.2s
 => => sha256:dca0aaa22255fd4c434f78eabab009c6cf1ab66c73cb979b3690436e739233d5 114.60MB / 114.60MB                                                                                                    17.5s
 => => extracting sha256:41d91075c9ed31da02a9b4c33814db9286e4b1b259d48c139ab0c58bb41ea233                                                                                                              3.8s
 => => extracting sha256:6410a8272a83deb81f823b1cb3bf041f95c7d711601610c50de02837a1fab738                                                                                                              0.0s
 => => extracting sha256:a863eb46d7bd75292ab0d348f61c94a87a3bbc4b8f9e85de0b64e48d58b405c0                                                                                                              1.1s
 => => extracting sha256:1ff08693425edbca91dac49ca47f5fc1e05dd11e2840dd02e9406afc2055ab96                                                                                                              0.0s
 => => extracting sha256:ea61bef0ad5b98451682b2b28d864a33e7ba8bde7ef5f2df09c0be0d78115f5f                                                                                                              0.4s
 => => extracting sha256:3b590f2d659b06f61ff68758545acc73d484e3ab70cec997a658b79f67184bed                                                                                                              0.0s
 => => extracting sha256:8186b5322dab315b9ed9e4f586a2d1af0fb8dba8b1bc81b6e29139891994e6ec                                                                                                              0.2s
 => => extracting sha256:dca0aaa22255fd4c434f78eabab009c6cf1ab66c73cb979b3690436e739233d5                                                                                                              2.5s
 => [scancontrol-build internal] load build context                                                                                                                                                    0.1s
 => => transferring context: 6.12MB                                                                                                                                                                    0.1s
 => [scancontrol-build 2/8] RUN sudo apt-get update   && sudo apt-get install --no-install-recommends -y     build-essential     git     python3-colcon-common-extensions     python3-colcon-mixin    11.1s
 => [scancontrol-build 3/8] WORKDIR /workspaces/lls_ws                                                                                                                                                 0.0s
 => [scancontrol-build 4/8] COPY . /workspaces/lls_ws/src/scancontrol                                                                                                                                  0.0s
 => [scancontrol-build 5/8] RUN sudo chown -R ${USERNAME}:${USERNAME} /workspaces/lls_ws                                                                                                               0.2s
 => [scancontrol-build 6/8] RUN sudo -E rosdep init   && rosdep update   && sudo apt-get update                                                                                                        9.9s
 => [scancontrol-build 7/8] RUN rosdep install --from-paths src --ignore-src -r -y     && sudo rm -rf /var/lib/apt/lists/*                                                                            75.3s
 => [scancontrol-build 8/8] RUN source /opt/ros/humble/setup.bash && colcon build                                                                                                                     18.3s 
 => [scancontrol-build] exporting to image                                                                                                                                                             7.1s 
 => => exporting layers                                                                                                                                                                                7.1s 
 => => writing image sha256:0682aafe5646cfd36b0b5b5dec29c66bdde1418a4fc6395f1db94ad25e640057                                                                                                           0.0s 
 => => naming to docker.io/library/scancontrol:build                                                                                                                                                   0.0s 
 => [scancontrol-build] resolving provenance for metadata file                                                                                                                                         0.0s 
[+] Running 4/4                                                                                                                                                                                             
 ✔ scancontrol-build              Built                                                                                                                                                                0.0s 
 ✔ Network scancontrol_default    Created                                                                                                                                                              0.1s 
 ✔ Container scancontrol-build    Created                                                                                                                                                              0.0s 
 ✔ Container scancontrol-service  Created                                                                                                                                                              0.0s 
Attaching to scancontrol-build, scancontrol-service
scancontrol-build exited with code 0
scancontrol-service  | [WARN] [1740130857.706295260] [scancontrol_driver_node]: There is no scanCONTROL device connected. Exiting...
scancontrol-service  | [FATAL] [1740130857.708029666] [scancontrol_driver]: ScanControlDriver: Initialization failed.
scancontrol-service exited with code 0

This is on my Dev PC. When running on the NUC, the laser driver succeeds and the laser service keeps running (because the laser is connected).

The ✘ scancontrol-service Error pull access denied error at the top is not a fatal related to the repository. It probably tells you that the scancontrol-service depends on scancontrol-build which needs to complete first (the image does not exist yet, and needs to be built). On later runs, this does not happen.

I would recommend to check your docker install, build cache and any other orphan images. My docker versions:

Client: Docker Engine - Community
 Version:           27.5.0
 API version:       1.47
 Go version:        go1.22.10
 Git commit:        a187fa5
 Built:             Mon Jan 13 15:24:49 2025
 OS/Arch:           linux/amd64
 Context:           default

Server: Docker Engine - Community
 Engine:
  Version:          27.5.0
  API version:      1.47 (minimum version 1.24)
  Go version:       go1.22.10
  Git commit:       38b84dc
  Built:            Mon Jan 13 15:24:49 2025
  OS/Arch:          linux/amd64
  Experimental:     false
 containerd:
  Version:          1.7.25
  GitCommit:        bcc810d6b9066471b0b6fa75f557a15a1cbf31bb
 runc:
  Version:          1.2.4
  GitCommit:        v1.2.4-0-g6c52b3f
 docker-init:
  Version:          0.19.0
  GitCommit:        de40ad0

[nikhil-sethi]

Changed the base branch to erf_demo so that an existing MR #45 doesnt get out of scope.

This branch will be the working branch for the demo. Also fixed up author info. Some commits were from the NUC