Development container support using docker-compose

docker/10_nvidia.json

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+{
+    "file_format_version" : "1.0.0",
+    "ICD" : {
+        "library_path" : "libEGL_nvidia.so.0"
+    }
+}

docker/Dockerfile.base

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+# Ubuntu 24.04 
+FROM osrf/ros:jazzy-desktop-full AS vrx-base
+
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Setup timezone
+ENV TZ=Etc/UTC
+RUN echo $TZ > /etc/timezone && \
+    ln -fs /usr/share/zoneinfo/$TZ /etc/localtime && \
+    apt update && \
+    apt install -y locales && \
+    locale-gen en_US en_US.UTF-8 && \
+    update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
+
+# Set up repo to install Gazebo
+RUN curl -s 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
+
+# Install some 'standard' ROS packages and utilities.
+RUN apt update \
+    && apt install -y --no-install-recommends \
+       gz-harmonic \
+    && rm -rf /var/lib/apt/lists/* \
+    && apt clean -qq

docker/Dockerfile.builder

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+FROM vrx-base AS vrx-builder
+
+COPY . /ws/src/
+
+RUN . /opt/ros/${ROS_DISTRO}/setup.sh \
+    && apt update \
+    && rosdep install -r \
+      --from-paths /ws/src/ \
+      --ignore-src \
+      --rosdistro ${ROS_DISTRO} -y
+
+# Build the project
+RUN . /opt/ros/${ROS_DISTRO}/setup.sh \
+    && cd /ws \
+    && colcon build --symlink-install --merge-install

docker/Dockerfile.devel

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+FROM vrx-base AS vrx-devel
+
+# Install some 'standard' ROS packages and utilities.
+RUN apt update \
+  && apt install -y --no-install-recommends \
+     ros-${ROS_DISTRO}-ackermann-msgs \
+     ros-${ROS_DISTRO}-actuator-msgs \
+     ros-${ROS_DISTRO}-ament-cmake-pycodestyle \
+     ros-${ROS_DISTRO}-image-transport \
+     ros-${ROS_DISTRO}-image-transport-plugins \
+     ros-${ROS_DISTRO}-joy-teleop \
+     ros-${ROS_DISTRO}-joy-linux \
+     ros-${ROS_DISTRO}-mavros-msgs \
+     ros-${ROS_DISTRO}-navigation2 \
+     ros-${ROS_DISTRO}-nav2-bringup \
+     ros-${ROS_DISTRO}-nav2-minimal-tb3-sim \
+     ros-${ROS_DISTRO}-nav2-minimal-tb4-description\
+     ros-${ROS_DISTRO}-nav2-minimal-tb4-sim \
+     ros-${ROS_DISTRO}-radar-msgs \
+     ros-${ROS_DISTRO}-ros-gz-sim\
+     ros-${ROS_DISTRO}-vision-msgs \
+     ros-${ROS_DISTRO}-xacro \
+  && rm -rf /var/lib/apt/lists/* \
+  && apt clean -qq
+
+# Tools necessary and useful during development
+RUN apt update && \
+ apt install --no-install-recommends -y \
+        atop \
+        expect \
+        gdb \
+        iputils-ping \
+        gnutls-bin \
+        libbluetooth-dev \
+        libcwiid-dev \
+        net-tools \
+        python3-dbg \
+        python3-pip \
+        python3-venv \
+        vim \
+        wget \
+        xvfb \
+&& rm -rf /var/lib/apt/lists/* \
+&& apt clean -qq
+
+# Nvidia setup
+RUN dpkg --add-architecture i386 && \
+    apt-get update && apt-get install -y --no-install-recommends \
+        libxau6 libxau6:i386 \
+        libxdmcp6 libxdmcp6:i386 \
+        libxcb1 libxcb1:i386 \
+        libxext6 libxext6:i386 \
+        libx11-6 libx11-6:i386 \
+        libglvnd0 libglvnd0:i386 \
+        libgl1 libgl1:i386 \
+        libglx0 libglx0:i386 \
+        libegl1 libegl1:i386 \
+        libgles2 libgles2:i386 \
+    && rm -rf /var/lib/apt/lists/* \
+    && apt clean -qq
+# COPY 10_nvidia.json /usr/share/glvnd/egl_vendor.d/10_nvidia.json
+# # nvidia-container-runtime
+# ENV NVIDIA_VISIBLE_DEVICES=${NVIDIA_VISIBLE_DEVICES:-all}
+# ENV NVIDIA_DRIVER_CAPABILITIES=${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics,compat32,utility
+# RUN echo "/usr/local/nvidia/lib" >> /etc/ld.so.conf.d/nvidia.conf && \
+#     echo "/usr/local/nvidia/lib64" >> /etc/ld.so.conf.d/nvidia.conf
+# # Required for non-glvnd setups.
+# ENV LD_LIBRARY_PATH=/usr/lib/x86_64-linux-gnu:/usr/lib/i386-linux-gnu${LD_LIBRARY_PATH:+:${LD_LIBRARY_PATH}}:/usr/local/nvidia/lib:/usr/local/nvidia/lib64
+
+# Add passworless for sudo for the ubuntu user
+# RUN echo "ubuntu ALL=(ALL) NOPASSWD: ALL" >> /etc/sudoers
+
+WORKDIR /ws
+
+COPY entrypoint-ros.sh /entrypoint-ros.sh
+RUN chmod +x /entrypoint-ros.sh
+
+# USER ubuntu
+
+ENTRYPOINT ["/entrypoint-ros.sh"]

docker/README.md

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+# VRX Docker support
+
+For running VRX using the docker support please refer to the instructions
+in https://github.com/osrf/vrx/wiki/docker_install_tutorial.
+
+## Dockerfiles in this directory
+
+The directory contains a series of Dockerfiles designed to serve different setups
+for VRX. The usage is mainly controlled by `docker-compose` although docker files
+can be used independently if desired:
+
+ * `Dockerfile.base`: built on top of osrf desktop-full. Install
+   gz-harmonic from packages.osrfoundation.org repository 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.

docker/docker-compose.yml

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+services:
+  base:
+    build:
+      context: .
+      dockerfile: Dockerfile.base
+    image: vrx-base
+
+  builder:
+    build:
+      context: ../
+      dockerfile: docker/Dockerfile.builder
+    depends_on:
+      - base
+    image: vrx-builder:latest
+
+  devel:
+    build:
+      context: .
+      dockerfile: Dockerfile.devel
+    depends_on:
+      - base
+    image: vrx-devel:latest
+    network_mode: host
+    stdin_open: true 
+    tty: true
+    user: ubuntu
+    group_add:
+      - video
+      - sudo
+    # TODO: support for intel by enabling /dev/dri
+    # devices:  # for intel dri
+    #  - /dev/dri
+    environment:
+      - DISPLAY=unix${DISPLAY}
+      - TERM=xterm-256color
+    volumes:
+      - ..:/ws/src
+      - /sys:/sys:ro
+      - /tmp/.X11-unix:/tmp/.X11-unix:rw
+      - /dev/log:/dev/log:ro
+      - /run/log:/run/log:ro
+    deploy:
+      resources:
+        reservations:
+          devices:
+            - driver: nvidia
+              count: 1
+              capabilities: [gpu]
+    command: bash

docker/entrypoint-ros.sh

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+#!/bin/bash
+set -e
+
+# Setup ROS environment
+source /opt/ros/${ROS_DISTRO}/setup.bash
+
+exec "$@"