From e70b4d254e93ae629f66be0acce1ea2986bab9f5 Mon Sep 17 00:00:00 2001
From: SebastianEbert <sebastian.ebert@tu-dresden.de>
Date: Thu, 8 Sep 2022 16:26:54 +0200
Subject: [PATCH] added dockerfile and documentation
---
docker/.dockerignore | 1 +
docker/Dockerfile | 87 ++++++++++++++++++++++++++++++++++++++++++++
docker/launch.sh | 11 ++++++
docker/manual.md | 15 ++++++++
4 files changed, 114 insertions(+)
create mode 100644 docker/.dockerignore
create mode 100644 docker/Dockerfile
create mode 100755 docker/launch.sh
create mode 100644 docker/manual.md
diff --git a/docker/.dockerignore b/docker/.dockerignore
new file mode 100644
index 0000000..9414382
--- /dev/null
+++ b/docker/.dockerignore
@@ -0,0 +1 @@
+Dockerfile
diff --git a/docker/Dockerfile b/docker/Dockerfile
new file mode 100644
index 0000000..52a1979
--- /dev/null
+++ b/docker/Dockerfile
@@ -0,0 +1,87 @@
+FROM ros:noetic-ros-core
+
+RUN sed -i 's/^deb/deb [trusted=yes]/' /etc/apt/sources.list.d/ros1-latest.list
+
+# update and install dependencies
+RUN apt-get update && apt-get upgrade -y && apt-get install -y \
+ python3-osrf-pycommon \
+ python3-catkin-tools \
+ build-essential \
+ protobuf-compiler \
+ libprotobuf-dev \
+ python3-rosdep \
+ tree
+
+# update rosdep dependencies manually to speed up process
+RUN apt-get install -y \
+ ros-noetic-gazebo-msgs \
+ libsdformat9-dev \
+ ros-noetic-gazebo-ros \
+ ros-noetic-xacro \
+ ros-noetic-tf2 \
+ ros-noetic-moveit-ros-planning-interface \
+ ros-noetic-franka-gripper \
+ ros-noetic-controller-manager \
+ ros-noetic-effort-controllers \
+ ros-noetic-gazebo-plugins \
+ ros-noetic-gazebo-ros-control \
+ ros-noetic-joint-state-controller \
+ ros-noetic-joint-state-publisher \
+ ros-noetic-joint-trajectory-controller \
+ ros-noetic-robot-state-publisher \
+ ros-noetic-tf \
+ ros-noetic-moveit-simple-controller-manager \
+ ros-noetic-moveit-core \
+ ros-noetic-moveit-ros-perception \
+ ros-noetic-moveit-visual-tools \
+ ros-noetic-controller-interface \
+ ros-noetic-hardware-interface \
+ ros-noetic-moveit-ros-move-group \
+ ros-noetic-moveit-fake-controller-manager \
+ ros-noetic-moveit-kinematics \
+ ros-noetic-moveit-planners-ompl \
+ ros-noetic-moveit-ros-visualization \
+ ros-noetic-joint-state-publisher-gui \
+ ros-noetic-libfranka \
+ ros-noetic-franka-ros
+
+RUN apt-get install -y \
+ libnng1 libnng-dev
+
+
+RUN apt-get update && apt-get install git-all -y
+
+ENV HOME /home/user
+RUN useradd --create-home --home-dir $HOME user && chmod -R u+rwx $HOME && chown -R user:user $HOME
+RUN rosdep init
+
+USER user
+
+RUN mkdir -p ${HOME}/work_dir
+COPY --chown=user:user . ${HOME}/work_dir/
+
+RUN rosdep update
+
+# temporary switch to root to be able to install the ROS package dependencies of the workspace
+USER root
+RUN rosdep install --from-paths ${HOME}/work_dir/ -i -y -r
+USER user
+
+RUN ls -al /home/user
+WORKDIR ${HOME}/work_dir
+
+RUN git clone --recurse-submodules -b ccnc-demo https://git-st.inf.tu-dresden.de/ceti/ros/ccf/ccf_workspace.git
+RUN pwd && ls
+
+
+RUN echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
+RUN /bin/bash -c "source /opt/ros/noetic/setup.bash && \
+ cd ~/work_dir/ccf_workspace/ && \
+ catkin build"
+RUN echo "source ~/work_dir/ccf_workspace/devel/setup.bash" >> ~/.bashrc
+
+EXPOSE 6576/tcp
+
+RUN ls -l
+
+ENTRYPOINT ["./launch.sh"]
diff --git a/docker/launch.sh b/docker/launch.sh
new file mode 100755
index 0000000..fb55743
--- /dev/null
+++ b/docker/launch.sh
@@ -0,0 +1,11 @@
+#!/bin/bash
+
+echo Running Main Controller with parameters: "$@"
+source ~/work_dir/ccf_workspace/devel/setup.bash
+
+if [ $1 -eq 1 ]
+then
+roslaunch ccf_immersive_sorting main_controller_virtual_preview_ceti-table-$1_real_robot.launch mqtt_server:=tcp://$2 connection_address:=tcp://$3 robot_ip:=$4
+else
+roslaunch robot-cell_ceti-table-$1.launch mqtt_server:=tcp://$2 robot_ip:=$4
+fi
diff --git a/docker/manual.md b/docker/manual.md
new file mode 100644
index 0000000..7ff874a
--- /dev/null
+++ b/docker/manual.md
@@ -0,0 +1,15 @@
+# Docker Manual
+
+## Building an running the demo locally
+
+* Building the container: ```docker build .```
+* Running the conainer: ```docker run -it --ulimit rtprio=99 --cap-add=sys_nice --network host <containerName> <robotId> <mqttAddress> <nngAddress> <robotIP>```
+* Example: ```docker run -it --ulimit rtprio=99 --cap-add=sys_nice --network host 70fef7e9a389 1 127.0.0.1:2000 *:6576 172.31.1.13```
+
+## Running the demo from the registry
+
+* ```docker run -it --ulimit rtprio=99 --cap-add=sys_nice --network host git-st.inf.tu-dresden.de:4567/ceti/ros/ccf/ccf_workspace:ccnc <robotId> <mqttAddress> <nngAddress> <robotIP>```
+
+## Material
+
+* Docker realtime options: https://docs.docker.com/config/containers/resource_constraints/#configure-the-docker-daemon
--
GitLab