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Optimized dockerfile #54

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merged 6 commits into from
Oct 14, 2024
Merged

Optimized dockerfile #54

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016a367
Optimized dockerfile
DarkusAlphaHydranoid Oct 13, 2024
eec2975
pre-commit fix
DarkusAlphaHydranoid Oct 13, 2024
3fc4954
Updated readme ( see https://github.com/moveit/moveit_drake/pull/54#d…
DarkusAlphaHydranoid Oct 14, 2024
c84c294
Deleted drake deb after installing and fixed typo in dockerfile
DarkusAlphaHydranoid Oct 14, 2024
fd3d441
Added Drake version as an argument and fixed some overlooked stuffs
DarkusAlphaHydranoid Oct 14, 2024
f6c048b
Give docker arguments through docker compose yaml
DarkusAlphaHydranoid Oct 14, 2024
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96 changes: 36 additions & 60 deletions .docker/Dockerfile
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@@ -1,71 +1,47 @@
FROM robotlocomotion/drake:1.29.0
LABEL maintainer="Aditya Kamireddypalli kamireddypalliaditya@gmail.com"
ARG ROS_DISTRO=rolling
ARG RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
ARG DRAKE_VERSION=1.30.0-1

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I guess these are default values, maybe give it through docker compose?

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@CihatAltiparmak CihatAltiparmak Oct 14, 2024 •
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Overall done it with a couple of details: I couldn't build docker image without setting default argument inside dockerfile. So i just have updated docker-compose yaml instead of changing dockerfile as well. Now we can change args through compose file.

ENV ROS_DISTRO=humble
ENV WORKSPACE=/root/workspace/
ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
ENV DEBIAN_FRONTEND=noninteractive
FROM moveit/moveit2:${ROS_DISTRO}-source
LABEL maintainer="Aditya Kamireddypalli kamireddypalliaditya@gmail.com"

# ROS installation
RUN apt update && \
apt install locales && \
locale-gen en_US en_US.UTF-8 && \
update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 && \
export LANG=en_US.UTF-8
ARG ROS_DISTRO
ARG RMW_IMPLEMENTATION
ARG DRAKE_VERSION

RUN apt install -y software-properties-common && \
add-apt-repository universe
ENV DEBIAN_FRONTEND=noninteractive
ENV WORKSPACE=${ROS_UNDERLAY}/..

COPY . ${WORKSPACE}/src/moveit_drake

RUN apt-get update && \
apt-get install --no-install-recommends \
ca-certificates \
gnupg \
lsb-release \
wget -y && \
wget -qO- https://drake-apt.csail.mit.edu/drake.asc | gpg --dearmor - \
| sudo tee /etc/apt/trusted.gpg.d/drake.gpg >/dev/null && \
echo "deb [arch=amd64] https://drake-apt.csail.mit.edu/$(lsb_release -cs) $(lsb_release -cs) main" \
| sudo tee /etc/apt/sources.list.d/drake.list >/dev/null && \
apt-get update && \
apt-get install --no-install-recommends drake-dev=${DRAKE_VERSION} -y

RUN apt update && \
apt install -y curl git && \
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 $UBUNTU_CODENAME) main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null
RUN . /opt/ros/${ROS_DISTRO}/setup.sh && \
cd ${WORKSPACE}/src && \
vcs import < moveit_drake/.docker/upstream.repos --recursive

RUN apt update && \
RUN . /opt/ros/${ROS_DISTRO}/setup.sh && \
cd ${WORKSPACE} && \
rosdep update --rosdistro=$ROS_DISTRO && \
apt-get update && \
apt upgrade -y && \
apt install -y \
build-essential \
clang-format-14 \
clangd-12 \
cmake \
git-lfs \
python3-colcon-common-extensions \
python3-flake8 \
python3-rosdep \
python3-setuptools \
python3-vcstool \
ros-dev-tools \
ros-${ROS_DISTRO}-desktop \
ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
wget && \
update-alternatives --install /usr/bin/clangd clangd /usr/bin/clangd-12 100

RUN pip3 install colcon-mixin pre-commit && \
colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml && \
colcon mixin update default

RUN apt update && \
rosdep init && \
rosdep update

# Setup the workspace
WORKDIR ${WORKSPACE}
RUN mkdir -p src

# Install dependencies of this package
# NOTE: Copying only the necessary files to not bust cache as much.
COPY moveit_drake.repos ${WORKSPACE}/src/moveit_drake/
WORKDIR ${WORKSPACE}/src/
RUN vcs import < moveit_drake/moveit_drake.repos

WORKDIR ${WORKSPACE}
COPY package.xml ${WORKSPACE}/src/moveit_drake/
RUN apt update && \
. /opt/ros/${ROS_DISTRO}/setup.sh && \
rosdep install -r --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y && \
rm -rf src/moveit_drake
rosdep install --from-paths src --ignore-src -r -y && \
apt-get install ros-${ROS_DISTRO}-rmw-cyclonedds-cpp -y

RUN . /opt/ros/${ROS_DISTRO}/setup.sh && \
cd ${WORKSPACE} && \
. install/setup.sh && \
colcon build --mixin release --parallel-workers 1

# Set up the entrypoint
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9 changes: 9 additions & 0 deletions .docker/upstream.repos
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@@ -0,0 +1,9 @@
repositories:
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There already is a moveit_drake.repos file at the top level. Can probably just keep one of these 2 files.

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Actually inspired from upstream.repos of moveit2_tutorials. While installing via docker, we don't need to clone repositories like moveit2 (they already installed in MoveIt's docker image) . In case of local installation, user need to clone additional repositories in addition of upstream.repos. Shortly, i have tried to support both local installation method and docker installation. But if you don't mind, we can only update main moveit_drake.repos

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Yes this seems to be the likely way to go forward. I am in favor of keeping both for now. This gives users the option of doing a single VCS import if working locally.

Could you add some instructions on README, under the local installation section to point users to this effect? May also be beneficial to specify that the build time is large in this case.

moveit_visual_tools:
type: git
url: https://github.com/moveit/moveit_visual_tools
version: ros2
rviz_visual_tools:
type: git
url: https://github.com/PickNikRobotics/rviz_visual_tools.git
version: ros2
8 changes: 4 additions & 4 deletions README.md
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Expand Up @@ -24,8 +24,7 @@ rich specification of constraints and costs provided by `drake`.

### Steps
The following steps clone and build the base image that you will require to
test/build/run/develop with the repo (and will take some time, as it builds
moveit)
test/build/run/develop with the repo

git clone https://github.com/moveit/moveit_drake.git
cd moveit_drake
Expand Down Expand Up @@ -62,10 +61,11 @@ Download the MoveIt Tutorials source code:
vcs import < moveit_drake/moveit_drake.repos
rosdep install -r --from-paths . --ignore-src --rosdistro ${ROS_DISTRO} -y

Configure and build the workspace:
Configure and build the workspace (this will take some time, as it builds
moveit):

cd ${WORKSPACE}
colcon build --event-handlers desktop_notification- status- --cmake-args -DCMAKE_BUILD_TYPE=Release
colcon build --event-handlers desktop_notification- status- --cmake-args -DCMAKE_BUILD_TYPE=Release --parallel-workers 1

### Run the demo

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4 changes: 4 additions & 0 deletions docker-compose.yaml
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Expand Up @@ -5,6 +5,10 @@ services:
build:
context: .
dockerfile: .docker/Dockerfile
args:
- ROS_DISTRO=rolling
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
- DRAKE_VERSION=1.30.0-1
environment:
- DISPLAY=${DISPLAY}
- QT_X11_NO_MITSHM=1
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