Skip to content
GitLab
Explore
Sign in
Primary navigation
Search or go to…
Project
D
Development_Environment
Manage
Activity
Members
Labels
Plan
Issues
Issue boards
Milestones
Wiki
Code
Merge requests
Repository
Branches
Commits
Tags
Repository graph
Compare revisions
Snippets
Build
Pipelines
Jobs
Pipeline schedules
Artifacts
Deploy
Releases
Model registry
Operate
Environments
Monitor
Incidents
Service Desk
Analyze
Value stream analytics
Contributor analytics
CI/CD analytics
Repository analytics
Model experiments
Help
Help
Support
GitLab documentation
Compare GitLab plans
Community forum
Contribute to GitLab
Provide feedback
Terms and privacy
Keyboard shortcuts
?
Snippets
Groups
Projects
Show more breadcrumbs
Montaño Sarria, Andres Felipe
Development_Environment
Commits
bb3e3f6c
Commit
bb3e3f6c
authored
1 year ago
by
Montaño Sarria, Andres Felipe
Browse files
Options
Downloads
Patches
Plain Diff
Update docker.sh now supports parametes in dockrun fucntion
parent
b7bb3977
Branches
Branches containing commit
No related tags found
1 merge request
!3
Resolve "Add option to dockrun"
Changes
2
Hide whitespace changes
Inline
Side-by-side
Showing
2 changed files
dockerfiles/ws_dependencies/melodic_requirements.txt
+2
-0
2 additions, 0 deletions
dockerfiles/ws_dependencies/melodic_requirements.txt
dotfiles/docker.sh
+119
-87
119 additions, 87 deletions
dotfiles/docker.sh
with
121 additions
and
87 deletions
dockerfiles/ws_dependencies/melodic_requirements.txt
+
2
−
0
View file @
bb3e3f6c
# APT-GET PACKAGES
# Base
ipython
python-catkin-tools
...
...
@@ -10,4 +11,5 @@ ros-melodic-plotjuggler-ros
ros-melodic-rosmon
ros-melodic-rqt-controller-manager
ros-melodic-rqt-joint-trajectory-controller
# PIP PACKAGES
# EOF
This diff is collapsed.
Click to expand it.
dotfiles/docker.sh
+
119
−
87
View file @
bb3e3f6c
# Define color codes
RED
=
'\033[0;31m'
GREEN
=
'\033[0;32m'
YELLOW
=
'\033[1;33m'
BLUE
=
'\033[0;34m'
NC
=
'\033[0m'
# No Color
# docker common commands
export
dockerfiles_
DIR
=
~/srcs/development_environment/dockerfiles
;
export
dockerfiles_
path
=
~/srcs/development_environment/dockerfiles
;
alias
dim
=
"docker images"
alias
dpsa
=
"docker ps -a"
...
...
@@ -21,104 +28,161 @@ fi
# Build docker image
# usage: dockbuild {noetic, melodic}
function
dockbuild
(){
current_dir
=
$(
pwd
)
if
[
$#
-lt
1
]
;
then
echo
"Usage: dockbuild <ROS_DISTRO> [build_args]"
echo
"
${
BLUE
}
Usage: dockbuild <ROS_DISTRO> [build_args]"
echo
"ROS_DISTRO:"
echo
" melodic, noetic, humble, etc."
echo
"build_args:"
echo
" EXT_SHELL - zsh (default) or bash"
echo
" EXT_SHELL - zsh (default) or bash
${
NC
}
"
return
1
fi
cd
$dockerfiles_
DIR
;
cd
$dockerfiles_
path
;
if
[
$#
-lt
2
]
;
then
echo
"Building ROS_DISTRO:"
$1
"with SHELL_VERSION: zsh"
docker build
-t
devenv:
$1
--build-arg
ROS_DISTRO
=
$1
--build-arg
EXT_SHELL
=
"zsh"
--build-arg
SHELL
=
"/usr/bin/zsh"
-f
devenv.Dockerfile
.
else
if
[
$2
=
"bash"
]
;
then
echo
"Building ROS_DISTRO:"
$1
"with SHELL_VERSION:"
$2
docker build
-t
devenv:
$1
--build-arg
ROS_DISTRO
=
$1
--build-arg
EXT_SHELL
=
"bash"
--build-arg
SHELL
=
"/bin/bash"
-f
devenv.Dockerfile
.
ros_distro
=
$1
shell
=
${
ext
}
shell_path
=
"/usr/bin/zsh"
if
[[
$#
-gt
1
]]
;
then
key
=
$2
shell
=
$3
if
[[
$shell
=
"zsh"
]]
;
then
shell_path
=
"/usr/bin/zsh"
elif
[[
$shell
=
"bash"
]]
;
then
shell_path
=
"/bin/bash"
else
echo
"SHELL_VERSION:"
$2
"not supported"
echo
"SHELL_VERSION:
${
shell
}
not supported"
cd
$current_dir
return
1
fi
fi
echo
"
${
GREEN
}
Building ROS_DISTRO:
${
ros_distro
}
with SHELL_VERSION:
${
shell
}${
NC
}
"
docker build
-t
devenv:
${
ros_distro
}
--build-arg
ROS_DISTRO
=
${
ros_distro
}
--build-arg
EXT_SHELL
=
${
shell
}
--build-arg
SHELL
=
${
shell_path
}
-f
devenv.Dockerfile
.
cd
$current_dir
}
# Run container with rocker
# usage: rundock {noetic, melodic} [{remodel_ws, odin_ws}] [cmd]
# ToDo Add extra parameters by arg
# To share docker --volume /var/run/docker.sock:/var/run/docker.sock:ro
# To share video (usb-cam) --volume /dev/video0:/dev/video0
# To share pcan --volume /dev/pcanusb32:/dev/pcanusb32
# To share
3Dmouse
--volume /dev
/pcanusb32:/dev/pcanusb32
# To share
dev folder
--volume /dev
:/dev
function
dockrun
()
{
current_dir
=
$(
pwd
)
if
[
$#
-lt
1
]
;
then
echo
"Usage: dockrun <ROS_DISTRO> [
posicional
options]"
echo
"
${
BLUE
}
Usage: dockrun <ROS_DISTRO> [options]"
echo
"ROS_DISTRO:"
echo
" melodic, noetic, humble, etc."
echo
"Options:"
echo
" Passing 1 option --> path_to_workspace. E.g., dockrun humble mairon_ws"
echo
" Passing 2 options --> path_to_workspace + extra_config. E.g., dockrun humble mairon_ws video"
echo
" extra_config: pcan, video, pcan_video"
echo
" --ws: path to workspace. e.g. odin_ws"
echo
" --share: resource to share with the container, e.g. video, pcan or dev"
echo
" --shell: shell to use in the container. By default zsh"
echo
" --parse: parse_args to use in the container, e.g. --oyr-spacenav. By default none"
echo
"Examples:"
echo
"dockrun humble mairon_ws"
echo
"dockrun noetic neurondones_ws
pcan_video
"
echo
"dockrun melodic odinrobot_ws
video
"
echo
"dockrun humble
--ws
mairon_ws"
echo
"dockrun noetic
--ws
neurondones_ws
--share pcan
"
echo
"dockrun melodic
--ws
odinrobot_ws
--share video --shell bash
${
NC
}
"
return
1
fi
container_name
=
"
$1
"
docker_shell
=
${
ext
}
workspace
=
"
${
HOME
}
/ros/
${
container_name
}
"
resource_to_share
=
""
parse_args
=
""
while
[[
$#
-gt
1
]]
;
do
key
=
"
$2
"
case
$key
in
--ws
)
workspace
=
"
${
HOME
}
/ros/
${
container_name
}
/
$3
"
shift
shift
;;
--shell
)
docker_shell
=
"
$3
"
shift
shift
;;
--share
)
resource
=
$3
if
[[
$resource
=
"video"
]]
;
then
resource_to_share
=
"--volume /dev/video0:/dev/video0"
elif
[[
$resource
=
"pcan"
]]
;
then
resource_to_share
=
"--volume /dev/pcanusb32:/dev/pcanusb32"
elif
[[
$resource
=
"dev"
]]
;
then
resource_to_share
=
"--volume /dev:/dev"
fi
shift
shift
;;
--parse
)
parse_args
=
"
$3
"
shift
shift
;;
*
)
# Unknown option
echo
"Unknown option:
$2
"
return
1
;;
esac
done
echo
"
${
BLUE
}
Resource to share:
${
resource_to_share
}
"
echo
"Workspace:
${
workspace
}
"
echo
"Shell:
${
docker_shell
}
"
echo
"Container name:
${
container_name
}
"
echo
"Parse args:
${
parse_args
}${
NC
}
"
# Check if the image exist
if
[[
"
$(
docker images
-q
devenv:
$
1
2> /dev/null
)
"
==
""
]]
;
then
if
[[
"
$(
docker images
-q
devenv:
$
container_name
2> /dev/null
)
"
==
""
]]
;
then
# build the image
dockbuild
$1
echo
"
${
GREEN
}
Docker image for
${
container_name
}
does not exist. Building...
${
NC
}
"
echo
"
${
YELLOW
}
dockbuild
${
container_name
}
${
docker_shell
}${
NC
}
"
if
dockbuild
${
container_name
}
${
docker_shell
}
;
then
echo
"
${
GREEN
}
Docker image for
${
container_name
}
successfully built.
${
NC
}
"
else
echo
"
${
RED
}
Docker image for
${
container_name
}
failed to build.
${
NC
}
"
return
1
fi
fi
cd
$workspace
# Check if the container exist
if
[[
$(
docker ps
-aq
-f
name
=
$1
)
]]
;
then
if
[[
$(
docker ps
-aq
-f
name
=
$container_name
)
]]
;
then
echo
"Container
${
container_name
}
already running. Attach console to container."
# Attach to container
if
[
$#
-lt
2
]
;
then
docker
exec
-it
$1
bash
-c
"cd ~/ros/
$1
&&
$ext
"
else
docker
exec
-it
$1
bash
-c
"cd ~/ros/
$1
/
$2
&&
$ext
"
fi
docker
exec
-it
${
container_name
}
bash
-c
"cd
${
workspace
}
&&
${
docker_shell
}
"
else
echo
"
${
GREEN
}
Container
${
container_name
}
not running. Launching...
${
NC
}
"
# Launch container
cd
~/ros/
$1
/
$2
;
if
[
$#
-lt
4
]
;
then
rocker
--home
--ssh
--git
--user
--privileged
--nvidia
--x11
--network
host
--name
$1
devenv:
$1
else
if
[
$3
=
"dev"
]
;
then
rocker
--home
--ssh
--git
--user
--privileged
--nvidia
--x11
--volume
/dev:/dev
--network
host
--name
$1
devenv:
$1
else
fi
if
[
$3
=
"pcan"
]
;
then
rocker
--home
--ssh
--git
--user
--privileged
--nvidia
--x11
--volume
/dev/pcanusb32:/dev/pcanusb32
--network
host
--name
$1
devenv:
$1
else
fi
if
[
$3
=
"video"
]
;
then
rocker
--home
--ssh
--git
--user
--privileged
--nvidia
--x11
--volume
/dev/video0:/dev/video0
--network
host
--name
$1
devenv:
$1
else
fi
fi
rocker_command
=
"rocker --home --ssh --git --user --privileged --nvidia
${
resource_to_share
}
${
parse_args
}
--x11 --network host --name
${
container_name
}
devenv:
${
container_name
}
${
docker_shell
}
"
echo
"
${
YELLOW
}${
rocker_command
}${
NC
}
"
$(
echo
"
$rocker_command
"
)
fi
cd
$current_dir
}
function
dockexec
()
{
if
[
$#
-lt
1
]
;
then
echo
"Usage: dockexec <ROS_DISTRO> [workspace] [command]"
echo
"
${
BLUE
}
Usage: dockexec <ROS_DISTRO> [workspace] [command]"
echo
"ROS_DISTRO:"
echo
" melodic, noetic, humble, etc."
echo
"Example:"
echo
"dockexec noetic neurondones_ws roscore"
echo
"dockexec noetic neurondones_ws roscore
${
NC
}
"
return
1
fi
# Check if the image exist
if
[[
"
$(
docker images
-q
devenv:
$1
2> /dev/null
)
"
==
""
]]
;
then
# build the image
echo
"Docker image for
${
1
}
does not exist"
echo
"
${
RED
}
Docker image for
${
1
}
does not exist
${
NC
}
"
return
1
fi
...
...
@@ -126,13 +190,14 @@ function dockexec() {
if
[[
$(
docker ps
-aq
-f
name
=
$1
)
]]
;
then
# Attach to container
if
[
$#
-lt
2
]
;
then
docker
exec
-it
$1
bash
-c
"cd
~
/ros/
$1
&&
$ext
"
docker
exec
-it
$1
bash
-c
"cd
${
HOME
}
/ros/
$1
&&
$ext
"
else
docker
exec
-it
$1
bash
-c
"cd
~
/ros/
$1
/
$2
&&
$ext
"
docker
exec
-it
$1
bash
-c
"cd
${
HOME
}
/ros/
$1
/
$2
&&
$ext
"
fi
else
# Launch container
echo
"Container for
${
1
}
does not exist"
echo
"
${
RED
}
Container for
${
1
}
does not exist
${
NC
}
"
return
1
fi
}
...
...
@@ -156,36 +221,3 @@ function dsr() {
# function runpythonsyntax(){
# rocker --home --name python_syntax tecnalia-docker-dev.artifact.tecnalia.com/docker:git
# }
# function runremodel() {
# rocker --x11 --nvidia --privileged --network=host --name remodel_docker --oyr-run-arg " -v iiwa_state_recorder:/home/remodel/iiwa_state_recorder -v /home/andres/test/remodel_shared:/home/remodel/remodel_shared" -- remodel_app:melodic bash -c "'roslaunch remodel_app remodel_app.launch use_sim:=true docker:=true skill_manager:=true collision_detector:=true ui:=true cad:=true joystick:=false'"
# }
# function docrun() {
# rocker --nvidia --pulse --x11 --volume /dev/video0:/dev/video0 --privileged --oyr-run-arg " -v odin_robot_volume:/root/" --name odin_robot --network host odin_robot:melodic $1
# }
# function runodin() {
# rocker --nvidia --pulse --x11 --privileged --volume /dev/video0:/dev/video0 --name odin_melodic --network host devenv:melodic $1
# }
#DOCKER
alias
dexec
=
'f(){ docker exec -w /root/ --detach-keys="ctrl-@" -e DISPLAY=$DISPLAY -it $1 /bin/bash -c "terminator --no-dbus"; unset -f f; }; f'
alias
dexec_nt
=
'f(){ docker exec --detach-keys="ctrl-@" -e DISPLAY=$DISPLAY -it $1 /bin/bash ; unset -f f; }; f'
alias
dstart
=
'f(){ docker start $1; dexec $1; unset -f f; }; f'
# Run using same X and .ssh folder
alias
drun
=
'f(){ docker run -it -e DISPLAY=$DISPLAY --detach-keys="ctrl-@" -v /tmp/.X11-unix:/tmp/.X11-unix -v ~/.ssh:/root/.ssh:ro -v ~/docker_share/:/root/docker_share/ --net=host --name $2 $1; unset -f f; }; f'
alias
drun_nvidia
=
'f(){ docker run -it --name $2 --privileged \
--net=host \
--env=NVIDIA_VISIBLE_DEVICES=all \
--env=NVIDIA_DRIVER_CAPABILITIES=all \
--env=DISPLAY \
--env=QT_X11_NO_MITSHM=1 \
-v /tmp/.X11-unix:/tmp/.X11-unix \
--gpus all \
--device /dev/snd \
-e NVIDIA_VISIBLE_DEVICES=0 \
--detach-keys="ctrl-@" \
-v ~/.ssh:/root/.ssh:ro \
-v ~/docker_share/:/root/docker_share/ \
$1 /bin/bash; unset -f f; }; f'
This diff is collapsed.
Click to expand it.
Preview
0%
Loading
Try again
or
attach a new file
.
Cancel
You are about to add
0
people
to the discussion. Proceed with caution.
Finish editing this message first!
Save comment
Cancel
Please
register
or
sign in
to comment