Development container support using docker-compose #817

j-rivero · 2025-05-14T10:34:09Z

Refactor de Docker support to provide the base for using different docker images in different use cases. This PR targets only the development container support for the users building and running VRX code.

Instructions are provided in the README.md. Subsequent PRs should use the docker images for implementing releasing and CI.

Signed-off-by: Jose Luis Rivero <[email protected]>

caguero · 2025-05-15T19:37:46Z

docker/README.md

+   gz-harmonic from packages.osrfoundation.org repostiory and
+   the VRX dependencies using rosdep.
+
+   * `Dockerfile.builder`: built on top of `vrx-base`. Compiles the vrx packages


I think we should explain what is vrx-base.

Include the image names in ad84a95

caguero · 2025-05-15T19:39:28Z

docker/README.md

+   * `Dockerfile.builder`: built on top of `vrx-base`. Compiles the vrx packages
+     using colcon.
+
+   * `Dockerfile.devel`: built on top of `vrx-base`. development image with extra ROS 2 development packages


Nit: There's a newline here and extra indentation in Dockerfile.builder and Dockerfile.devel.

lines are broken at 80 chars to faciitate diffs. Leaving one empty line between items:

* `Dockerfile.base`: built on top of osrf desktop-full. Install gz-harmonic from packages.osrfoundation.org repostiory and the VRX dependencies using rosdep. Generates the `vrx-base` image. * `Dockerfile.builder`: built on top of `vrx-base`. Compiles the vrx packages using colcon. Generates the `vrx-builder` image. * `Dockerfile.devel`: built on top of `vrx-base`. development image with extra ROS 2 development packages and other dev utilities. It configures the GPU support and a development user. Runs a shell into the container with local sources mapped in /ws. Generates the `vrx-devel` image.

caguero · 2025-05-15T19:45:51Z

docker/README.md

+$ ubuntu@locashot:/ws$ export ROS_DISTRO=jazzy
+# compile vrx code
+$ ubuntu@localhost:/ws$ . /opt/ros/${ROS_DISTRO}/setup.sh \
+  && apt update \


sudo? What about the password?

ouch be539d3

caguero · 2025-05-15T19:54:41Z

docker/README.md

+...
+... 
+# docker building and return a shell inside the container
+$ ubuntu@locashot:/ws$ export ROS_DISTRO=jazzy


Does it make sense to have this command exported, the VRX dependencies installed, and sourcing the setup.bash from ROS already configured?

yep we can add an entrypoint 85cd5cd

caguero · 2025-05-15T19:56:24Z

docker/README.md

@@ -0,0 +1,61 @@
+# VRX Docker support


How does this file play with the Docker installation instructions from the wiki?

Prerequisites are the same. No need to clone dockwater repository anymore, just run the docker compose command.

Signed-off-by: Jose Luis Rivero <[email protected]>

caguero

I have two suggestions:

Omit the README file and update the wiki accordingly for not having to maintain two sources of installation instructions.
Reduce the number of Dockerfile flavors to just the ones we have a use case (either described in the tutorial or used by our CI).

Signed-off-by: Jose Luis Rivero <[email protected]>

j-rivero · 2025-05-20T16:23:27Z

Reduce the number of Dockerfile flavors to just the ones we have a use case (either described in the tutorial or used by our CI).

The three flavours in this PR are all expected to be used: base, builder (to be used by the CI) and devel. The main change is that we are not going to produce a release one but use the devel one for the users.

Omit the README file and update the wiki accordingly for not having to maintain two sources of installation instructions.

Changed the docker install in https://github.com/osrf/vrx/wiki/docker_install_tutorial/_compare/1f54d2ec84fc7959b7139f738224c77fb76db48f and reduced the README file to only explain the Dockerfiles in f4a1124 .

caguero · 2025-05-21T16:03:01Z

Changed the docker install in https://github.com/osrf/vrx/wiki/docker_install_tutorial/_compare/1f54d2ec84fc7959b7139f738224c77fb76db48f and reduced the README file to only explain the Dockerfiles in f4a1124 .

Can we also pass an argument to rocker for being able to use /dev/input/js0? This is typically the device attached to the keypad we use for teleoperating within VRX.

This step talks about run.bash. Could you please update the text to the updated instructions?

caguero

I tested the new Docker installation instructions in my laptop and the problem I'm experiencing is that I'm not getting GPU acceleration. Using dockwater I'm getting around 0.85, 0.9 RTF but following our instructions I'm getting 0.05 RTF.

docker/README.md

caguero · 2025-05-21T15:42:24Z

docker/docker-compose.yml

@@ -0,0 +1,51 @@
+version: '3.2'


I got this warning when running docker compose build devel --with-dependencies:

WARN[0000] /home/caguero/vrx_ws/src/vrx/docker/docker-compose.yml: the attribute `version` is obsolete, it will be ignored, please remove it to avoid potential confusion Compose can now delegate builds to bake for better performance.

I also saw these other three warning messages:

=> WARN: UndefinedVar: Usage of undefined variable '$NVIDIA_VISIBLE_DEVICES' (li 0.0s => WARN: UndefinedVar: Usage of undefined variable '$NVIDIA_DRIVER_CAPABILITIES' 0.0s => WARN: UndefinedVar: Usage of undefined variable '$LD_LIBRARY_PATH' (line 68) 0.0s

Remove the first warning 92bad35. Second warning about the undefined variable should be harmless.

Although I added support to run the thing without rocker the fact that rocker can manage the user and home directory easily is making the instructions now not to use it. We can potentially remove it.

Signed-off-by: Jose Luis Rivero <[email protected]>

j-rivero · 2025-05-22T10:53:53Z

I tested the new Docker installation instructions in my laptop and the problem I'm experiencing is that I'm not getting GPU acceleration. Using dockwater I'm getting around 0.85, 0.9 RTF but following our instructions I'm getting 0.05 RTF.

I just re-run the build + run pipeline and seems to work fine here:

Could you check inside the container:

grep -A5 "RenderSystem capabilities" ~/.gazebo/ogre.log
sudo apt-get update && sudo apt-get install mesa-utils && glxinfo | head -n 5

caguero · 2025-05-26T16:41:10Z

sudo apt-get update && sudo apt-get install mesa-utils && glxinfo | head -n 5

Did you try it in your laptop? This is a problem in my laptop that doesn't happen with the previous Docker setup.

caguero@06ad9bb4dfc9:~$ grep -A5 "RenderSystem capabilities" ~/.gazebo/ogre.log
17:14:05: RenderSystem capabilities
17:14:05: -------------------------
17:14:05: RenderSystem Name: OpenGL Rendering Subsystem
17:14:05: GPU Vendor: intel
17:14:05: Device Name: Mesa Intel(R) HD Graphics P630 (KBL GT2)
17:14:05: Driver Version: 4.6.0.0

caguero@ade7bb5d0cbd:~$ glxinfo | head -n 5
glx: failed to create dri3 screen
failed to load driver: nouveau
glx: failed to create dri3 screen
failed to load driver: nouveau
name of display: :1
display: :1  screen: 0
direct rendering: Yes
server glx vendor string: NVIDIA Corporation
server glx version string: 1.4

I don't see this block when running it using dockwater:

failed to load driver: nouveau
glx: failed to create dri3 screen
failed to load driver: nouveau

ahcorde

are the instructions updated? I'm following this link. There is no documentation about how to run the docker compose.

I tried

docker compose up

then I join the docker container

docker exec -it docker-devel-1 bash

and try to run the example:

ros2 launch vrx_gz competition.launch.py world:=sydney_regatta

But I'm getting an error related with the display:

[gazebo-1] Authorization required, but no authorization protocol specified
[gazebo-1] 
[gazebo-1] qt.qpa.xcb: could not connect to display unix:1
[gazebo-1] qt.qpa.plugin: Could not load the Qt platform plugin "xcb" in "" even though it was found.
[gazebo-1] This application failed to start because no Qt platform plugin could be initialized. Reinstalling the application may fix this problem.
[gazebo-1] 
[gazebo-1] Available platform plugins are: eglfs, linuxfb, minimal, minimalegl, offscreen, vnc, xcb.

docker/Dockerfile.base

docker/Dockerfile.devel

j-rivero · 2025-05-26T20:44:39Z

are the instructions updated? I'm following this link. There is no documentation about how to run the docker compose.

https://github.com/osrf/vrx/wiki/docker_install_tutorial#step-3-run-your-container .

Signed-off-by: Jose Luis Rivero <[email protected]>

j-rivero · 2025-05-26T20:55:13Z

Removed some configurations and the ubuntu user in 26c4549 . @caguero this should approach it to the dockwater style, can you give another try?

j-rivero · 2025-05-27T09:24:40Z

https://github.com/osrf/vrx/wiki/docker_install_tutorial#step-3-run-your-container .

@ahcorde you will need that rocker command in the image or the wiki to make the GPU / X configuration setup to work properly.

caguero · 2025-05-27T13:17:03Z

sudo apt-get update && sudo apt-get install mesa-utils && glxinfo | head -n 5

glxinfo returns something better:

caguero@68f2dc79b5bf:~/vrx_ws$ glxinfo | head -n 5
name of display: :1
display: :1  screen: 0
direct rendering: Yes
server glx vendor string: NVIDIA Corporation
server glx version string: 1.4

But I still get 20% RTF compared with 85-90% using dockwater.

Signed-off-by: Jose Luis Rivero <[email protected]>

j-rivero · 2025-05-28T10:35:45Z

Removed comments and unused file. good to go

j-rivero added 3 commits May 14, 2025 12:31

Development container support using docker-compose

1c6934f

Signed-off-by: Jose Luis Rivero <[email protected]>

Code does not belong to base

154140e

Signed-off-by: Jose Luis Rivero <[email protected]>

Fix image name

8ebfffa

Signed-off-by: Jose Luis Rivero <[email protected]>

caguero reviewed May 15, 2025

View reviewed changes

j-rivero added 3 commits May 16, 2025 13:07

Include what images are generated by the dockerfiles

ad84a95

Signed-off-by: Jose Luis Rivero <[email protected]>

sudo for the ubuntu user

be539d3

Signed-off-by: Jose Luis Rivero <[email protected]>

sudo for ubuntu user and entrypoint

85cd5cd

Signed-off-by: Jose Luis Rivero <[email protected]>

j-rivero requested a review from caguero May 16, 2025 12:26

caguero reviewed May 19, 2025

View reviewed changes

Move instructions to install tutorial

f4a1124

Signed-off-by: Jose Luis Rivero <[email protected]>

j-rivero requested a review from caguero May 20, 2025 16:23

caguero reviewed May 21, 2025

View reviewed changes

j-rivero added 2 commits May 22, 2025 12:34

Remove version in docker-compose

92bad35

Signed-off-by: Jose Luis Rivero <[email protected]>

Typo

455fbe1

Signed-off-by: Jose Luis Rivero <[email protected]>

j-rivero mentioned this pull request May 22, 2025

Modify docker_release to release to ghrc.io #820

Merged

j-rivero requested review from caguero and ahcorde May 22, 2025 16:39

ahcorde requested changes May 26, 2025

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j-rivero added 2 commits May 26, 2025 22:49

Disable ubuntu user and gpu configuration

0cb0c23

Signed-off-by: Jose Luis Rivero <[email protected]>

Merge remote-tracking branch 'origin' into jrivero/dockerfiles

ac38e42

j-rivero force-pushed the jrivero/dockerfiles branch from de9ec3d to ac38e42 Compare May 26, 2025 20:52

Do not need var

26c4549

Signed-off-by: Jose Luis Rivero <[email protected]>

j-rivero requested a review from ahcorde May 27, 2025 09:24

caguero approved these changes May 27, 2025

View reviewed changes

Clean-up comments in Dockerfiles

3c227c3

Signed-off-by: Jose Luis Rivero <[email protected]>

j-rivero merged commit 7adf2c1 into jazzy May 28, 2025
2 checks passed

caguero deleted the jrivero/dockerfiles branch June 5, 2025 10:16

Development container support using docker-compose #817

Development container support using docker-compose #817

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