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Commit bb3e3f6c authored by Montaño Sarria, Andres Felipe's avatar Montaño Sarria, Andres Felipe
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Update docker.sh now supports parametes in dockrun fucntion

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1 merge request!3Resolve "Add option to dockrun"
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dockerfiles/ws_dependencies/melodic_requirements.txt
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# APT-GET PACKAGES
# Base # Base
ipython ipython
python-catkin-tools python-catkin-tools
...@@ -10,4 +11,5 @@ ros-melodic-plotjuggler-ros ...@@ -10,4 +11,5 @@ ros-melodic-plotjuggler-ros
ros-melodic-rosmon ros-melodic-rosmon
ros-melodic-rqt-controller-manager ros-melodic-rqt-controller-manager
ros-melodic-rqt-joint-trajectory-controller ros-melodic-rqt-joint-trajectory-controller
# PIP PACKAGES
# EOF # EOF
dotfiles/docker.sh
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# 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 # docker common commands
export dockerfiles_DIR=~/srcs/development_environment/dockerfiles; export dockerfiles_path=~/srcs/development_environment/dockerfiles;
alias dim="docker images" alias dim="docker images"
alias dpsa="docker ps -a" alias dpsa="docker ps -a"
...@@ -21,104 +28,161 @@ fi ...@@ -21,104 +28,161 @@ fi
# Build docker image # Build docker image
# usage: dockbuild {noetic, melodic} # usage: dockbuild {noetic, melodic}
function dockbuild(){ function dockbuild(){
current_dir=$(pwd)
if [ $# -lt 1 ]; then if [ $# -lt 1 ]; then
echo "Usage: dockbuild <ROS_DISTRO> [build_args]" echo "${BLUE}Usage: dockbuild <ROS_DISTRO> [build_args]"
echo "ROS_DISTRO:" echo "ROS_DISTRO:"
echo " melodic, noetic, humble, etc." echo " melodic, noetic, humble, etc."
echo "build_args:" echo "build_args:"
echo " EXT_SHELL - zsh (default) or bash" echo " EXT_SHELL - zsh (default) or bash${NC}"
return 1 return 1
fi fi
cd $dockerfiles_DIR; cd $dockerfiles_path;
if [ $# -lt 2 ]; then ros_distro=$1
echo "Building ROS_DISTRO:"$1 "with SHELL_VERSION: zsh" shell=${ext}
docker build -t devenv:$1 --build-arg ROS_DISTRO=$1 --build-arg EXT_SHELL="zsh" --build-arg SHELL="/usr/bin/zsh" -f devenv.Dockerfile . shell_path="/usr/bin/zsh"
else
if [ $2 = "bash" ]; then if [[ $# -gt 1 ]]; then
echo "Building ROS_DISTRO:"$1 "with SHELL_VERSION:"$2 key=$2
docker build -t devenv:$1 --build-arg ROS_DISTRO=$1 --build-arg EXT_SHELL="bash" --build-arg SHELL="/bin/bash" -f devenv.Dockerfile . shell=$3
if [[ $shell = "zsh" ]]; then
shell_path="/usr/bin/zsh"
elif [[ $shell = "bash" ]]; then
shell_path="/bin/bash"
else else
echo "SHELL_VERSION:"$2 "not supported" echo "SHELL_VERSION: ${shell} not supported"
cd $current_dir
return 1
fi fi
fi fi
echo "${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 $current_dir
} }
# Run container with rocker # Run container with rocker
# usage: rundock {noetic, melodic} [{remodel_ws, odin_ws}] [cmd]
# ToDo Add extra parameters by arg
# To share docker --volume /var/run/docker.sock:/var/run/docker.sock:ro # To share docker --volume /var/run/docker.sock:/var/run/docker.sock:ro
# To share video (usb-cam) --volume /dev/video0:/dev/video0 # To share video (usb-cam) --volume /dev/video0:/dev/video0
# To share pcan --volume /dev/pcanusb32:/dev/pcanusb32 # To share pcan --volume /dev/pcanusb32:/dev/pcanusb32
# To share 3Dmouse --volume /dev/pcanusb32:/dev/pcanusb32 # To share dev folder --volume /dev:/dev
function dockrun() { function dockrun() {
current_dir=$(pwd)
if [ $# -lt 1 ]; then if [ $# -lt 1 ]; then
echo "Usage: dockrun <ROS_DISTRO> [posicional options]" echo "${BLUE}Usage: dockrun <ROS_DISTRO> [options]"
echo "ROS_DISTRO:" echo "ROS_DISTRO:"
echo " melodic, noetic, humble, etc." echo " melodic, noetic, humble, etc."
echo "Options:" echo "Options:"
echo " Passing 1 option --> path_to_workspace. E.g., dockrun humble mairon_ws" echo " --ws: path to workspace. e.g. odin_ws"
echo " Passing 2 options --> path_to_workspace + extra_config. E.g., dockrun humble mairon_ws video" echo " --share: resource to share with the container, e.g. video, pcan or dev"
echo " extra_config: pcan, video, pcan_video" 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 "Examples:"
echo "dockrun humble mairon_ws" echo "dockrun humble --ws mairon_ws"
echo "dockrun noetic neurondones_ws pcan_video" echo "dockrun noetic --ws neurondones_ws --share pcan"
echo "dockrun melodic odinrobot_ws video" echo "dockrun melodic --ws odinrobot_ws --share video --shell bash${NC}"
return 1 return 1
fi 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 # 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 # 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 fi
cd $workspace
# Check if the container exist # 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 # Attach to container
if [ $# -lt 2 ]; then docker exec -it ${container_name} bash -c "cd ${workspace} && ${docker_shell}"
docker exec -it $1 bash -c "cd ~/ros/$1 && $ext"
else
docker exec -it $1 bash -c "cd ~/ros/$1/$2 && $ext"
fi
else else
echo "${GREEN}Container ${container_name} not running. Launching...${NC}"
# Launch container # Launch container
cd ~/ros/$1/$2; 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}"
if [ $# -lt 4 ]; then $(echo "$rocker_command")
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
fi fi
cd $current_dir
} }
function dockexec() { function dockexec() {
if [ $# -lt 1 ]; then if [ $# -lt 1 ]; then
echo "Usage: dockexec <ROS_DISTRO> [workspace] [command]" echo "${BLUE}Usage: dockexec <ROS_DISTRO> [workspace] [command]"
echo "ROS_DISTRO:" echo "ROS_DISTRO:"
echo " melodic, noetic, humble, etc." echo " melodic, noetic, humble, etc."
echo "Example:" echo "Example:"
echo "dockexec noetic neurondones_ws roscore" echo "dockexec noetic neurondones_ws roscore${NC}"
return 1 return 1
fi fi
# Check if the image exist # Check if the image exist
if [[ "$(docker images -q devenv:$1 2> /dev/null)" == "" ]]; then if [[ "$(docker images -q devenv:$1 2> /dev/null)" == "" ]]; then
# build the image # build the image
echo "Docker image for ${1} does not exist" echo "${RED}Docker image for ${1} does not exist${NC}"
return 1 return 1
fi fi
...@@ -126,13 +190,14 @@ function dockexec() { ...@@ -126,13 +190,14 @@ function dockexec() {
if [[ $(docker ps -aq -f name=$1) ]]; then if [[ $(docker ps -aq -f name=$1) ]]; then
# Attach to container # Attach to container
if [ $# -lt 2 ]; then 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 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 fi
else else
# Launch container # Launch container
echo "Container for ${1} does not exist" echo "${RED}Container for ${1} does not exist${NC}"
return 1
fi fi
} }
...@@ -156,36 +221,3 @@ function dsr() { ...@@ -156,36 +221,3 @@ function dsr() {
# function runpythonsyntax(){ # function runpythonsyntax(){
# rocker --home --name python_syntax tecnalia-docker-dev.artifact.tecnalia.com/docker:git # 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'
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