RoboSub Docker

Info

Updated the docker container with dependencies needed for RoboSub

Nekton Docker

Dockerfile

Dockerfile

# Stage 1: Build opencv
FROM --platform=$TARGETARCH ubuntu:22.04 AS builder
ARG TARGETARCH
ENV DEBIAN_FRONTEND=noninteractive
ENV TZ=America/New_York
 
RUN mkdir /opencv
 
# install python packages, wget and unzip
RUN apt-get update && apt-get install --no-install-recommends -y \
    python3-dev python3-pip python3-numpy wget unzip
 
# install build dependencies
RUN apt-get update && apt-get install --no-install-recommends -y \
    build-essential cmake git libgtk2.0-dev pkg-config libavcodec-dev \
    libavformat-dev libswscale-dev  libtbb2 libtbb-dev libjpeg-dev libpng-dev \
    libtiff-dev libdc1394-dev protobuf-compiler libgflags-dev libgoogle-glog-dev \
    libblas-dev libhdf5-serial-dev liblmdb-dev libleveldb-dev liblapack-dev libsnappy-dev \
    libprotobuf-dev libopenblas-dev libgtk2.0-dev libboost-dev libboost-all-dev libeigen3-dev \
    libatlas-base-dev
 
# install ARM only dependency
RUN if [ "${TARGETARCH}" == "arm64" ]; then apt-get install --no-install-recommends -y libne10-10 libne10-dev; fi
 
RUN pip3 install neon
RUN apt-get update && apt-get install --no-install-recommends -y \
    libneon27-dev
RUN apt-get install --no-install-recommends -y libneon27-gnutls-dev
 
# download opencv to the tmp directory
WORKDIR /tmp/
RUN wget -O opencv.zip https://github.com/opencv/opencv/archive/4.6.0.zip
RUN wget -O opencv_contrib.zip https://github.com/opencv/opencv_contrib/archive/4.6.0.zip
RUN unzip opencv.zip; unzip opencv_contrib.zip; mv opencv-4.6.0 opencv; mv opencv_contrib-4.6.0 opencv_contrib
 
# generate neon variable
RUN if [ "${TARGETARCH}" == "arm64" ]; then export USE_NEON=ON; else export USE_NEON=OFF; fi
 
# configure installation options to build and install to /opencv
RUN mkdir opencv/build
WORKDIR /tmp/opencv/build
RUN cmake -D CMAKE_BUILD_TYPE=RELEASE \
          -D CMAKE_INSTALL_PREFIX=/opencv \
          -D ENABLE_NEON="${USE_NEON}" \
          -D ENABLE_TBB=ON \
          -D ENABLE_IPP=ON \
          -D ENABLE_VFVP3=ON \
          -D WITH_OPENMP=ON \
          -D WITH_CSTRIPES=ON \
          -D WITH_OPENCL=ON \
          -D BUILD_NEW_PYTHON_SUPPORT=ON \
          -D BUILD_opencv_python3=ON \
          -D HAVE_opencv_python3=ON \
          -D PYTHON_DEFAULT_EXECUTABLE=/usr/bin/python3 \
          -D OPENCV_EXTRA_MODULES_PATH=/tmp/opencv_contrib/modules ..;
# build opencv
RUN make -j4
# install the built files
RUN make install
 
 
# Stage 2: set up runtime container
FROM --platform=$TARGETARCH tiryoh/ros2-desktop-vnc:humble
ENV ROS_DISTRO=humble
ENV GZ_VERSION=garden
SHELL ["/bin/bash", "-c"]
 
 
# Uninstall the old version of Gazebo 
RUN apt-get update && apt-get  purge ros-humble-gazebo-ros-pkgs ros-humble-ros-ign -y || true && apt autoremove -y
 
# Install Gazebo Garden
RUN wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg \
    && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null \
    && apt-get update \
    && apt-get install gz-garden --no-install-recommends -y
 
# Prepare to build ros_gz from source
RUN mkdir -p /opt/ros_gz_ws/src && cd /opt/ros_gz_ws && git clone --branch humble https://github.com/gazebosim/ros_gz.git ./src
 
# Install ros_gz dependencies
RUN rosdep install -r --from-paths /opt/ros_gz_ws/ -i -y --rosdistro humble
 
# Build ros_gz
RUN cd /opt/ros_gz_ws/ && source /opt/ros/humble/setup.bash && colcon build --packages-up-to ros_gz
 
# Copy over opencv installation
COPY --from=builder /opencv /opencv
RUN cp -r /opencv/lib/python3.10/dist-packages/cv2/ /opt/ros/humble/lib/python3.10/site-packages/cv2
RUN ldconfig /opencv
 
 
# set user to root
USER root
ENV USER=root \
    HOME=/root
 
# install runtime opencv dependencies, vim, gedit, and xacro
RUN apt-get update && apt-get install --no-install-recommends -y \
    libgoogle-glog-dev python3-dev python3-pip python3-numpy vim \
    gedit ros-humble-xacro ros-humble-rosbridge-suite
    
# set up ros workspace
RUN mkdir /nekton_ws \
    && mkdir /nekton_ws/src
    
WORKDIR /root
 
# configure desktop file
# make user desktop directory
RUN mkdir -p /root/Desktop/
 
# fix desktop permissions issue
RUN sed -i 's@Exec=/usr/bin/caja@Exec=/usr/bin/caja --force-desktop@g' /usr/share/applications/caja.desktop
 
# set up bashrc
RUN echo "git config --global --add safe.directory /nekton_ws/src/NektonSoftware;" >> /root/.bashrc \
    && echo "source /opt/ros/humble/setup.bash" >> /root/.bashrc \
    && echo "source /opt/ros_gz_ws/install/setup.bash" >> /root/.bashrc \
    && echo "alias setup='cd /nekton_ws; apt update; rosdep install --from-paths . --ignore-src -y; colcon build';" >> /root/.bashrc \
    && echo "alias src='cd /nekton_ws; source ./install/setup.bash';" >> /root/.bashrc \
    && echo "alias build='cd /nekton_ws; colcon build; src;'" >> /root/.bashrc \
    && echo "alias launch='src; ros2 launch nekton_bringup test.launch';" >> /root/.bashrc \
    && echo "cd /nekton_ws;" >> /root/.bashrc

RoboSub (Competition) Docker

Dockerfile

Dockerfile updates

• Extra runtime dependencies (tmux, nano, robot_localization)
• Extra ROS packages (ros-humble-tf-transformations, ros-humble-plotjuggler-ros)
• Python dependency (transforms3d)
• Updated ROS GPG Key step

New Dockerfile

# Stage 1: Build opencv
FROM --platform=$TARGETARCH ubuntu:22.04 AS builder
ARG TARGETARCH
ENV DEBIAN_FRONTEND=noninteractive
ENV TZ=America/New_York
 
RUN mkdir /opencv
 
# install python packages, wget and unzip
RUN apt-get update && apt-get install --no-install-recommends -y \
    python3-dev python3-pip python3-numpy wget unzip
 
# install build dependencies
RUN apt-get update && apt-get install --no-install-recommends -y \
    build-essential cmake git libgtk2.0-dev pkg-config libavcodec-dev \
    libavformat-dev libswscale-dev  libtbb2 libtbb-dev libjpeg-dev libpng-dev \
    libtiff-dev libdc1394-dev protobuf-compiler libgflags-dev libgoogle-glog-dev \
    libblas-dev libhdf5-serial-dev liblmdb-dev libleveldb-dev liblapack-dev libsnappy-dev \
    libprotobuf-dev libopenblas-dev libgtk2.0-dev libboost-dev libboost-all-dev libeigen3-dev \
    libatlas-base-dev
 
# install ARM only dependency
RUN if [ "${TARGETARCH}" == "arm64" ]; then apt-get install --no-install-recommends -y libne10-10 libne10-dev; fi
 
RUN pip3 install neon
RUN apt-get update && apt-get install --no-install-recommends -y \
    libneon27-dev
RUN apt-get install --no-install-recommends -y libneon27-gnutls-dev
 
# download opencv to the tmp directory
WORKDIR /tmp/
RUN wget -O opencv.zip https://github.com/opencv/opencv/archive/4.6.0.zip
RUN wget -O opencv_contrib.zip https://github.com/opencv/opencv_contrib/archive/4.6.0.zip
RUN unzip opencv.zip; unzip opencv_contrib.zip; mv opencv-4.6.0 opencv; mv opencv_contrib-4.6.0 opencv_contrib
 
# generate neon variable
RUN if [ "${TARGETARCH}" == "arm64" ]; then export USE_NEON=ON; else export USE_NEON=OFF; fi
 
# configure installation options to build and install to /opencv
RUN mkdir opencv/build
WORKDIR /tmp/opencv/build
RUN cmake -D CMAKE_BUILD_TYPE=RELEASE \
          -D CMAKE_INSTALL_PREFIX=/opencv \
          -D ENABLE_NEON="${USE_NEON}" \
          -D ENABLE_TBB=ON \
          -D ENABLE_IPP=ON \
          -D ENABLE_VFVP3=ON \
          -D WITH_OPENMP=ON \
          -D WITH_CSTRIPES=ON \
          -D WITH_OPENCL=ON \
          -D BUILD_NEW_PYTHON_SUPPORT=ON \
          -D BUILD_opencv_python3=ON \
          -D HAVE_opencv_python3=ON \
          -D PYTHON_DEFAULT_EXECUTABLE=/usr/bin/python3 \
          -D OPENCV_EXTRA_MODULES_PATH=/tmp/opencv_contrib/modules ..;
# build opencv
RUN make -j4
# install the built files
RUN make install
 
 
# Stage 2: set up runtime container
FROM --platform=$TARGETARCH tiryoh/ros2-desktop-vnc:humble
ENV ROS_DISTRO=humble
ENV GZ_VERSION=garden
SHELL ["/bin/bash", "-c"]
 
 
# Uninstall the old version of Gazebo 
RUN apt-get update && apt-get  purge ros-humble-gazebo-ros-pkgs ros-humble-ros-ign -y || true && apt autoremove -y
 
# Install Gazebo Garden
RUN wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg \
    && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null \
    && apt-get update \
    && apt-get install gz-garden --no-install-recommends -y
 
# Prepare to build ros_gz from source
RUN mkdir -p /opt/ros_gz_ws/src && cd /opt/ros_gz_ws && git clone --branch humble https://github.com/gazebosim/ros_gz.git ./src
 
# Install ros_gz dependencies
RUN rosdep install -r --from-paths /opt/ros_gz_ws/ -i -y --rosdistro humble
 
# Build ros_gz
RUN cd /opt/ros_gz_ws/ && source /opt/ros/humble/setup.bash && colcon build --packages-up-to ros_gz
 
# Copy over opencv installation
COPY --from=builder /opencv /opencv
RUN cp -r /opencv/lib/python3.10/dist-packages/cv2/ /opt/ros/humble/lib/python3.10/site-packages/cv2
RUN ldconfig /opencv
 
 
# set user to root
USER root
ENV USER=root \
    HOME=/root
 
# Add updated ROS GPG key manually
RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
 
# install runtime opencv dependencies, editors, ROS tools, and requested packages
RUN apt-get update && apt-get install --no-install-recommends -y \
    libgoogle-glog-dev python3-dev python3-pip python3-numpy \
    vim gedit nano tmux \
    ros-humble-xacro ros-humble-rosbridge-suite \
    ros-humble-robot-localization \
    ros-humble-tf-transformations \
    ros-humble-plotjuggler-ros \
    pip install transforms3d
 
    
# # set up ros workspace
# RUN mkdir /nekton_ws \
#     && mkdir /nekton_ws/src
 
# # Set up mrg workspace
RUN mkdir -p /mrg_ws/src
 
# Set working directory
WORKDIR /root
    
# configure desktop file
# make user desktop directory
RUN mkdir -p /root/Desktop/
 
# fix desktop permissions issue
RUN sed -i 's@Exec=/usr/bin/caja@Exec=/usr/bin/caja --force-desktop@g' /usr/share/applications/caja.desktop
 
# # set up bashrc
# RUN echo "git config --global --add safe.directory /nekton_ws/src/NektonSoftware;" >> /root/.bashrc \
#     && echo "source /opt/ros/humble/setup.bash" >> /root/.bashrc \
#     && echo "source /opt/ros_gz_ws/install/setup.bash" >> /root/.bashrc \
#     && echo "alias setup='cd /nekton_ws; apt update; rosdep install --from-paths . --ignore-src -y; colcon build';" >> /root/.bashrc \
#     && echo "alias src='cd /nekton_ws; source ./install/setup.bash';" >> /root/.bashrc \
#     && echo "alias build='cd /nekton_ws; colcon build; src;'" >> /root/.bashrc \
#     && echo "alias launch='src; ros2 launch nekton_bringup test.launch';" >> /root/.bashrc \
#     && echo "cd /nekton_ws;" >> /root/.bashrc
 
 
# set up bashrc
RUN echo "git config --global --add safe.directory /mrg_ws;" >> /root/.bashrc \
    && echo "source /opt/ros/humble/setup.bash" >> /root/.bashrc \
    && echo "source /opt/ros_gz_ws/install/setup.bash" >> /root/.bashrc \
    && echo "alias setup='cd /mrg_ws; apt update; rosdep install --from-paths . --ignore-src -y; colcon build';" >> /root/.bashrc \
    && echo "alias src='cd /mrg_ws; source ./install/setup.bash';" >> /root/.bashrc \
    && echo "alias build='cd /mrg_ws; colcon build; src;'" >> /root/.bashrc \
    && echo "alias launch='src; ros2 launch nekton_bringup test.launch';" >> /root/.bashrc \
    && echo "cd /mrg_ws;" >> /root/.bashrc

Docker Compose

https://docs.docker.com/compose/

docker-compose.yml

---
version: "2"
services:
  nekton:
    # image: mwoodward6/nekton:humble
    image: mwoodward6/mrg:humble
    container_name: nekton
    environment:
      - DISPLAY=:1.0
      - USER=root
    volumes:
    # Replace <PATH_GOES_HERE> with the path to NektonSoftware (If you cloned it to your home directory in WSL this would be ~/NektonSoftware)
      # - <PATH_GOES_HERE>:/nekton_ws/src/NektonSoftware 
      - ~/mrg/mrg_ws:/mrg_ws
      - ~/bin:/root/bin
    ports:  
      - 6080:80
      - 5900:5900
      - 9090:9090
      - 8080:8080
      - 8765:8765  # Exposes Foxglove Bridge WebSocket
    tty: true
    restart: unless-stopped