Prada Sarasola, Miguel
templates

Repository

# First, uninstall old docker versions
for pkg in docker.io docker-doc docker-compose docker-compose-v2 podman-docker containerd runc; do sudo apt-get remove $pkg; done
# Then, install latest version of docker using apt
# Add Docker's official GPG key:
sudo apt-get update
sudo apt-get install ca-certificates curl gnupg
sudo install -m 0755 -d /etc/apt/keyrings
curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo gpg --dearmor -o /etc/apt/keyrings/docker.gpg
sudo chmod a+r /etc/apt/keyrings/docker.gpg

# Add the repository to Apt sources:
echo \
  "deb [arch="$(dpkg --print-architecture)" signed-by=/etc/apt/keyrings/docker.gpg] https://download.docker.com/linux/ubuntu \
  "$(. /etc/os-release && echo "$VERSION_CODENAME")" stable" | \
  sudo tee /etc/apt/sources.list.d/docker.list > /dev/null
sudo apt-get update

# Install docker
sudo apt-get install docker-ce docker-ce-cli containerd.io docker-buildx-plugin docker-compose-plugin

# Create the docker group.
sudo groupadd docker

# Add your user to the docker group.
sudo usermod -aG docker $USER

# Refresh permissions to docker group.
newgrp docker
# if pipx is not installed
# for 22.04 or below
python3 -m pip install --user pipx
python3 -m pipx ensurepath

# The installation of rocker is then reduced to:
pipx install git+https://github.com/osrf/rocker.git
pipx inject rocker git+https://github.com/sloretz/off-your-rocker.git
pipx inject rocker git+https://github.com/miguelprada/mp_rocker.git
pipx inject rocker git+https://github.com/anfemosa/roscker_extensions.git # WIP
# Configure production repositories
curl -fsSL https://nvidia.github.io/libnvidia-container/gpgkey | sudo gpg --dearmor -o /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg \
  && curl -s -L https://nvidia.github.io/libnvidia-container/stable/deb/nvidia-container-toolkit.list | \
    sed 's#deb https://#deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://#g' | \
    sudo tee /etc/apt/sources.list.d/nvidia-container-toolkit.list
# Install nvidia-container-toolkit
sudo apt-get update
sudo apt-get install -y nvidia-container-toolkit
git clone git@git.code.tecnalia.com:andres.montano/development_environment.git
# APT-GET PACKAGES
# Base
python3-catkin-tools
ipython3
python-is-python3
python3-click
python3-numpy
python3-osrf-pycommon
python3-vcstool
python3-pip
clangd
liblldb-dev
libllvm-ocaml-dev
# Neurondones
ros-noetic-libpcan
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-moveit-setup-assistant
ros-noetic-ros-control
ros-noetic-ros-controllers
# PIP PACKAGES
pyk4a
# EOF
# List with links to additional libraries to install in devenv image
# lsd-musl
https://github.com/lsd-rs/lsd/releases/download/v1.1.5/lsd-musl_1.1.5_amd64.deb
machine https://artifact.tecnalia.com/artifactory/tecnalia-robotics-debian
login USER@tecnalia.com
password AVERYLONGPASSWORDGENERATEDBYTOKENINARTIFACTORY
      echo "${BLUE} dockbuild: Build a docker image for ROS"
      echo "Usage: dockbuild <ROS_DISTRO> [build_args]"
      echo "ROS_DISTRO: Ros distribution. e.g. melodic, noetic, humble, etc."
      echo "build_args:"
      echo "      --shell: shell to use in the container. e.g. bash or zsh"
      echo "      --ws: file name with packages to install in the workspace. e.g. neurondones_humble.txt"
      echo "      --force: force rebuild the image"
      echo "Whiout build_args, default shell: ${ext}${NC}"
      echo "${BLUE} dockrun: Run a docker image for ROS"
      echo "Usage: dockrun <ROS_DISTRO> [options]"
      echo "ROS_DISTRO:"
      echo "      melodic, noetic, humble, jazzy,etc."
      echo "Options:"
      echo "      --ws: path to workspace. e.g. odin_ws"
      echo "      --share: resource to share with the container, e.g. video, pcan or dev"
      echo "      --shell: shell to use in the container. By default zsh"
      echo "      --parse: parse_args to use in the container, e.g. --oyr-spacenav. By default none"
      echo "      --image: use an specific image. By default uses the ROS base image"
      echo "Examples:"
      echo "dockrun humble --ws mairon_ws"
      echo "dockrun noetic --ws neurondones_ws --share pcan"
      echo "dockrun melodic --ws odinrobot_ws --share video --shell bash${NC}"
docker build -t devenv:${ros_distro} ${build_options} -f devenv.Dockerfile .
e.g.
docker build -t devenv:humble --build-arg ROS_DISTRO=${ros_distro} --build-arg PACKAGES=dummy_humble.txt -f devenv.Dockerfile .
or
dockbuild humble --shell zsh --ws neurondones_humble --force
--build-arg ROS_DISTRO=${ros_distro} # Mandatory
--build-arg PACKAGES=${ws_packages}
--build-arg SHELL=${ext}
--build-arg SHELL=${shell_path}
--no-cache
rocker --home --ssh --git --user --user-preserve-groups --privileged --nvidia --x11 --network host --name ${container_name} ${image} zsh
or
dockrun melodic --ws odinrobot_ws --share dev