Add Docker with ROS Melodic + Gazebo 9 + nvidia-docker2 (#16)

* Docker container: first commit * Fix Error in Dockerfile * Start testing vcstool * Add Github dependencies using vcstool * Edit building instructions * Delete * Clean up package.xml in ca_move_base * Delete unnecessary kobuki_msgs dependency * Edit Docker instructions * Fix Dockerfile * Docker container: first commit * Delete kobuki_msgs dependency * Fix Dockerfile * Add EOL * Edit README
eborghi10 · Mar 5, 2019 · 9a6e06e · 9a6e06e
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diff --git a/README.md b/README.md
@@ -54,19 +54,12 @@ $ sudo apt-get install python-rosdep python-catkin-tools
     $ mkdir -p ~/create_ws/src
     ```
 
-2. Clone this repo and its dependencies
+2. Clone this repo
     ``` bash
     $ cd ~/create_ws/src
-    $ git clone https://github.com/RoboticaUtnFrba/create_autonomy.git && \
-      git clone https://github.com/RoboticaUtnFrba/libcreate.git && \
-      git clone https://github.com/RoboticaUtnFrba/RTIMULib2.git && \
-      git clone https://github.com/RoboticaUtnFrba/i2c_imu.git && \
-      git clone https://github.com/RoboticaUtnFrba/viso2.git && \
-      git clone https://github.com/RoboticaUtnFrba/gscam.git
+    $ git clone https://github.com/RoboticaUtnFrba/create_autonomy.git
     ```
 
-    **Note:** this approach will be changed with a next PR using `vcstool`.
-
 3. Compile RTIMULib2
     ```bash
     $ cd ~/create_ws/src/RTIMULib2/Linux && mkdir build && cd build
@@ -81,14 +74,29 @@ $ sudo apt-get install python-rosdep python-catkin-tools
     ``` bash
     $ sudo apt-get install -y gstreamer1.0-tools libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev libgstreamer-plugins-good1.0-dev
     $ cd ~/create_ws
-    $ rosdep install --from-path src/ -y -i
+    $ sudo apt install -y python3-vcstool
+    $ vcs import src < src/create_autonomy/<DEVICE>.repos
+    $ rosdep update
+    $ rosdep install --from-paths src -i
     ```
 
-4. Build  
-    ``` bash
-    $ cd ~/create_ws
-    $ catkin_make
-    ```
+4. Build
+
+    4.1. Build RTIMULib2 for Raspberry Pi
+
+        $ cd ~/create_ws/src/RTIMULib2/Linux
+        $ mkdir build
+        $ cd build
+        $ cmake ..
+        $ make -j4
+        $ sudo make install
+        $ sudo ldconfig
+
+    4.2. Build workspace
+
+        $ cd ~/create_ws
+        $ catkin_make -DCMAKE_BUILD_TYPE=Release
+
 #### USB Permissions
 5. In order to connect to Create over USB, ensure your user is in the dialout group
     ``` bash

diff --git a/ca_bumper2pc/CMakeLists.txt b/ca_bumper2pc/CMakeLists.txt
@@ -1,12 +1,11 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(ca_bumper2pc)
-find_package(catkin REQUIRED COMPONENTS 
-  roscpp 
-  nodelet 
-  pluginlib 
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  nodelet
+  pluginlib
   ca_msgs
-  sensor_msgs 
-  kobuki_msgs
+  sensor_msgs
 )
 
 catkin_package(

diff --git a/ca_bumper2pc/package.xml b/ca_bumper2pc/package.xml
@@ -20,15 +20,13 @@
   <build_depend>pluginlib</build_depend>
   <build_depend>ca_msgs</build_depend>
   <build_depend>sensor_msgs</build_depend>
-  <build_depend>kobuki_msgs</build_depend>
 
   <run_depend>roscpp</run_depend>
   <run_depend>nodelet</run_depend>
   <run_depend>pluginlib</run_depend>
   <run_depend>ca_msgs</run_depend>
   <run_depend>sensor_msgs</run_depend>
-  <run_depend>kobuki_msgs</run_depend>
-
+
   <export>
     <nodelet plugin="${prefix}/plugins/nodelet_plugins.xml"/>
   </export>

diff --git a/docker/Makefile b/docker/Makefile
@@ -0,0 +1,18 @@
+# If you want to rebuild all images, set this to --no-cache from the commandline
+DOCKER_ARGS?=
+
+.PHONY: create_ubuntu_bionic
+create_ubuntu_bionic:
+	docker build ${DOCKER_ARGS} -t create_ubuntu_bionic create_ubuntu_bionic
+
+.PHONY: create_ros_melodic
+create_ros_melodic: create_ubuntu_bionic
+	docker build ${DOCKER_ARGS} -t create_ros_melodic create_ros_melodic
+
+.PHONY: create_gazebo9
+create_gazebo9: create_ros_melodic
+	docker build ${DOCKER_ARGS} -t create_gazebo9 create_gazebo9
+
+.PHONY: create_nvidia
+create_nvidia: create_gazebo9
+	docker build ${DOCKER_ARGS} -t create_nvidia create_nvidia
diff --git a/docker/README.md b/docker/README.md
@@ -0,0 +1,95 @@
+# ROS Melodic + Gazebo 9 on Docker
+
+## Step 1: Install Docker
+[Install docker](https://docs.docker.com/engine/installation/linux/ubuntu/) and [configure after postintalling it](https://docs.docker.com/install/linux/linux-postinstall/).
+
+To run docker without super user:
+
+        ```bash
+        $ sudo groupadd docker
+        $ sudo gpasswd -a ${USER} docker
+        $ sudo service docker restart
+        ```
+
+## Step 2: Use NVIDIA acceleration
+
+### Install [nvidia-docker2](https://github.com/nvidia/nvidia-docker/wiki/Installation-(version-2.0))
+
+#### Prerequisites
+
+1. GNU/Linux x86_64 with kernel version > 3.10
+2. Docker >= 1.12
+3. NVIDIA GPU with Architecture > Fermi (2.1)
+4. NVIDIA drivers ~= 361.93 (untested on older versions)
+
+#### Removing nvidia-docker 1.0
+
+Version 1.0 of the nvidia-docker package must be cleanly removed before continuing.
+You must stop and remove all containers started with nvidia-docker 1.0.
+
+        ```bash
+        $ docker volume ls -q -f driver=nvidia-docker | xargs -r -I{} -n1 docker ps -q -a -f volume={} | xargs -r docker rm -f
+        $ sudo apt-get purge nvidia-docker
+        ```
+
+#### Installing version 2.0
+
+Make sure you have installed the [NVIDIA driver](https://github.com/NVIDIA/nvidia-docker/wiki/Frequently-Asked-Questions#how-do-i-install-the-nvidia-driver).
+
+If you have a custom `/etc/docker/daemon.json`, the `nvidia-docker2` package might override it.
+
+Install the repository for your distribution by following the instructions here.
+
+      ```bash
+      $ wcurl -s -L https://nvidia.github.io/nvidia-docker/gpgkey | \
+        sudo apt-key add -
+      $ distribution=$(. /etc/os-release;echo $ID$VERSION_ID)
+      $ curl -s -L https://nvidia.github.io/nvidia-docker/$distribution/nvidia-docker.list | \
+        sudo tee /etc/apt/sources.list.d/nvidia-docker.list
+      $ sudo apt-get update
+      ```
+
+Add Docker's official GPG key.
+
+      ```bash
+      $ curl -s -L https://nvidia.github.io/nvidia-docker/gpgkey | \
+        sudo apt-key add -
+      ```
+
+Install the `nvidia-docker2` package and reload the Docker daemon configuration:
+
+      ```bash
+      $ sudo apt-get install nvidia-docker2
+      $ sudo pkill -SIGHUP dockerd
+      ```
+
+## Step 3: Creating the container
+
+This repository contain the Dockerfile. Move into the directory containing the file and type
+
+The command below will **create** the container from the base image if it doesn't exist and log you in.
+
+      ```bash
+      $ make create-melodic-gazebo9
+      ```
+
+## Step 4: Start the container
+
+To make it easier, I created the launcher **launch_docker.sh** (you might need to call **chmod +x ./launch_docker.sh** first).
+
+      ```bash
+      $ ./launch_docker.sh -d create_nvidia
+      ```
+
+Every time you launch the Docker container, you'll need to compile the workspace and source:
+
+      ```bash
+      $ catkin_make -DCMAKE_BUILD_TYPE=Release -j4
+      $ source devel/setup.bash
+      ```
+
+# References
+
+* http://wiki.ros.org/docker/Tutorials/Docker
+* http://wiki.ros.org/docker/Tutorials/Hardware%20Acceleration
+* http://wiki.ros.org/docker/Tutorials/GUI
diff --git a/docker/create-melodic-gazebo9/Dockerfile b/docker/create-melodic-gazebo9/Dockerfile
@@ -0,0 +1,114 @@
+FROM ros:melodic-ros-base
+LABEL maintainer="Emiliano Borghi"
+
+ENV ROS_DISTRO melodic
+
+RUN apt-get update && \
+    apt-get install --no-install-recommends -y \
+    apt-utils \
+    curl \
+    dialog \
+    software-properties-common \
+    tmux \
+    wget
+
+# Setup environment
+ENV \
+  LANG=en_US.UTF-8 \
+  DEBIAN_FRONTEND=noninteractive \
+  TERM=xterm
+RUN apt-get update && apt-get install -y locales
+RUN locale-gen en_US.UTF-8
+
+# install bootstrap tools
+RUN apt-get update && apt-get install --no-install-recommends -y \
+    ros-${ROS_DISTRO}-gazebo-* \
+  && rm -rf /var/lib/apt/lists/*
+
+# ENV APT_KEY_DONT_WARN_ON_DANGEROUS_USAGE=DontWarn
+
+# Setup sources.list for ROS
+RUN echo "deb http://packages.ros.org/ros/ubuntu bionic main" > /etc/apt/sources.list.d/ros-latest.list
+
+# Setup keys for ROS
+RUN apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
+
+# Setup sources.list for Gazebo
+RUN echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable bionic main" > /etc/apt/sources.list.d/gazebo-stable.list
+
+# Setup keys for Gazebo
+RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys D2486D2DD83DB69272AFE98867170598AF249743
+
+# Install bootstrap tools
+RUN apt-get update && apt-get install --no-install-recommends -y \
+    python-rosdep \
+    python-rosinstall \
+    python3-vcstool
+
+# Install ROS packages
+RUN apt-get update && \
+    apt-get install -y \
+    gazebo9 \
+    libgazebo9-dev
+
+RUN apt-get clean -y && \
+    apt-get autoremove -y && \
+    apt-get autoclean -y && \
+    rm -rf /var/lib/apt/lists/* && \
+    rm -rf /usr/share/doc
+
+# Install dependencies for gscam and visual odometry
+RUN apt-get update && \
+    apt-get install -y \
+    gstreamer1.0-tools \
+    libgstreamer1.0-dev \
+    libgstreamer-plugins-base1.0-dev \
+    libgstreamer-plugins-good1.0-dev
+
+# Install ROS dependencies
+RUN apt-get update && \
+    apt-get upgrade -y && \
+    apt-get install -y \
+    ros-${ROS_DISTRO}-amcl \
+    ros-${ROS_DISTRO}-camera-calibration \
+    ros-${ROS_DISTRO}-controller-manager \
+    ros-${ROS_DISTRO}-ecl-threads \
+    ros-${ROS_DISTRO}-gazebo-ros-pkgs \
+    ros-${ROS_DISTRO}-joint-state-publisher \
+    ros-${ROS_DISTRO}-joy-teleop \
+    ros-${ROS_DISTRO}-map-server \
+    ros-${ROS_DISTRO}-move-base \
+    ros-${ROS_DISTRO}-pcl-ros \
+    ros-${ROS_DISTRO}-robot-localization \
+    ros-${ROS_DISTRO}-robot-state-publisher \
+    ros-${ROS_DISTRO}-yocs-controllers \
+    ros-${ROS_DISTRO}-xacro \
+    && \
+    apt-get clean && \
+    apt-get autoremove && \
+    apt-get autoclean && \
+    rm -rf /var/lib/apt/lists/* && \
+    rm -rf /usr/share/doc
+
+# Compile RTIMULib2 and IMU dependencies
+RUN mkdir -p /home/${USER}/catkin_ws/src
+WORKDIR /home/${USER}/catkin_ws/src
+RUN git clone https://github.com/RoboticaUtnFrba/RTIMULib2.git && \
+    git clone https://github.com/RoboticaUtnFrba/i2c_imu.git
+WORKDIR /home/${USER}/catkin_ws/src/RTIMULib2/Linux
+RUN apt-get update && apt-get install -y libqt4-dev
+RUN mkdir build && \
+    cd build && \
+    cmake .. && \
+    make -j4 && \
+    make install && \
+    ldconfig
+
+ENV PATH /usr/local/nvidia/bin:${PATH}
+ENV LD_LIBRARY_PATH /usr/local/nvidia/lib:/usr/local/nvidia/lib64:${LD_LIBRARY_PATH}
+
+RUN echo ". /opt/ros/${ROS_DISTRO}/setup.bash" >> /home/${USER}/.bashrc
+
+WORKDIR /home/${USER}/catkin_ws
+
+CMD [ "tmux" ]
diff --git a/docker/create_gazebo9/Dockerfile b/docker/create_gazebo9/Dockerfile
@@ -0,0 +1,21 @@
+FROM create_ros_melodic
+LABEL maintainer="Emiliano Borghi"
+
+ENV ROS1_DISTRO=melodic
+
+USER root
+
+# Setup sources.list for Gazebo
+RUN echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable bionic main" > /etc/apt/sources.list.d/gazebo-stable.list
+
+# Setup keys for Gazebo
+RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys D2486D2DD83DB69272AFE98867170598AF249743
+
+RUN apt-get update && \
+    apt-get install -y \
+    gazebo9 \
+    libgazebo9-dev \
+    ros-$ROS1_DISTRO-gazebo-ros-pkgs \
+    ros-$ROS1_DISTRO-gazebo-ros-control
+
+CMD tmux
diff --git a/docker/create_nvidia/Dockerfile b/docker/create_nvidia/Dockerfile
@@ -0,0 +1,15 @@
+FROM nvidia/opengl:1.0-glvnd-runtime-ubuntu16.04 as nvidia
+FROM create_gazebo9
+LABEL maintainer="Emiliano Borghi"
+
+# Installing OpenGL for nvidia-docker2
+# https://stackoverflow.com/a/53823600
+
+COPY --from=nvidia /usr/local /usr/local
+COPY --from=nvidia /etc/ld.so.conf.d/glvnd.conf /etc/ld.so.conf.d/glvnd.conf
+
+ENV NVIDIA_VISIBLE_DEVICES=all NVIDIA_DRIVER_CAPABILITIES=all
+
+RUN apt-get update
+
+USER create