Docker setup for automated testing (#42)

CMU-Robotics-Club · Feb 17, 2024 · 307eb63 · 307eb63
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diff --git a/.gitignore b/.gitignore
@@ -4,6 +4,7 @@ rb_ws/bags
 .python-requirements.txt.un~
 docker-compose.yml~
 python-requirements.txt~
+*TEMP_DO_NOT_EDIT.txt
 rb_ws/src/buggy/bags/2023-02-11-11-38-44.bag
 rb_ws/src/buggy/bags/2023-02-11-12-00-49.bag
 rb_ws/src/buggy/bags/2023-02-11-12-01-12.bag

diff --git a/README.md b/README.md
@@ -63,7 +63,7 @@ A complete re-write of the old RoboBuggy.
 ---
 ## Open Docker 
 - Use `cd` to change the working directory to be `RoboBuggy2`
-- Then do `./setup_dev.sh` in the main directory (RoboBuggy2) to launch the docker container.
+- Then do `./setup_dev.sh` in the main directory (RoboBuggy2) to launch the docker container. Utilize the `--no-gpu`, `--force-gpu`, and `--run-testing` flags as necessary.
 - Then you can go in the docker container using the `docker exec -it robobuggy2-main-1 bash`.
 - When you are done, type Ctrl+C and use `$exit` to exit.
 
@@ -119,7 +119,7 @@ SSH to the computer on ShortCircuit and go to folder
 `$ ssh nuc@192.168.1.217`
 Then `$ cd RoboBuggy2`
 -	Setup the docker
-`$ ./setup_prod.sh`
+`$ ./setup_prod.sh` (Utilize the `--no-gpu`, `--force-gpu`, and `--run-testing` flags as necessary.)
 -	Go to docker container
 `$ docker_exec`
 -	Open foxglove and do local connection to “ws://192.168.1.217/8765”

diff --git a/docker-compose-gpu-automated-testing.yml b/docker-compose-gpu-automated-testing.yml
@@ -0,0 +1,52 @@
+services:
+  main:
+    build: .
+    volumes:
+      - ./rb_ws:/rb_ws
+      - "${RLSENSE_PORT:-/dev/null}:/dev/bus/usb"
+      - /tmp/.X11-unix:/tmp/.X11-unix
+    devices:
+      - "${TEENSY_PORT:-/dev/null}:/dev/ttyUSB0"
+      - "${WEBCAM_PORT:-/dev/null}:/dev/ttyUSB1"
+      - "${GPS_PORT:-/dev/null}:/dev/ttyACM0"
+      - "${FEATHER_PORT:-/dev/null}:/dev/ttyACM1"
+    stdin_open: true # docker run -i
+    tty: true        # docker run -t
+    environment:
+      - DISPLAY=host.docker.internal:0
+    hostname: main
+    ports:
+       - "0.0.0.0:8765:8765"      # foxglove bridge
+       - "0.0.0.0:8760:8760"      # Asset server for loading stuff into foxglove
+    platform: "linux/amd64"
+    device_cgroup_rules:
+       - "c *:* rmw"
+    deploy:
+      resources:
+        reservations:
+          devices:
+            - driver: nvidia
+              count: 'all'
+              capabilities: [gpu]
+  tileserver:
+    image: maptiler/tileserver-gl
+    volumes:
+      - "./maps:/data"
+    stdin_open: true # docker run -i
+    tty: true        # docker run -t
+    command: ["-p", "80", "-c", "/data/conf.json"]
+    ports:
+      - "8080:80"
+  tester:
+    build: .
+    volumes:
+      - ./rb_ws:/rb_ws
+      - /tmp/.X11-unix:/tmp/.X11-unix
+    stdin_open: true # docker run -i
+    tty: true        # docker run -t
+    environment:
+      - DISPLAY=host.docker.internal:0
+    hostname: tester
+    platform: "linux/amd64"
+    device_cgroup_rules:
+       - "c *:* rmw"
diff --git a/docker-compose-gpu.yml b/docker-compose-gpu.yml
@@ -14,6 +14,7 @@ services:
     tty: true        # docker run -t
     environment:
       - DISPLAY=host.docker.internal:0
+    hostname: main
     ports:
        - "0.0.0.0:8765:8765"      # foxglove bridge
        - "0.0.0.0:8760:8760"      # Asset server for loading stuff into foxglove

diff --git a/docker-compose-no-gpu-automated-testing.yml b/docker-compose-no-gpu-automated-testing.yml
@@ -0,0 +1,45 @@
+services:
+  main:
+    build: ./docker_auton
+    volumes:
+      - ./rb_ws:/rb_ws
+      - "${RLSENSE_PORT:-/dev/null}:/dev/bus/usb"
+      - /tmp/.X11-unix:/tmp/.X11-unix
+    devices:
+      - "${TEENSY_PORT:-/dev/null}:/dev/ttyUSB0"
+      - "${WEBCAM_PORT:-/dev/null}:/dev/ttyUSB1"
+      - "${GPS_PORT:-/dev/null}:/dev/ttyACM0"
+      - "${FEATHER_PORT:-/dev/null}:/dev/ttyACM1"
+    stdin_open: true # docker run -i
+    tty: true        # docker run -t
+    environment:
+      - DISPLAY=host.docker.internal:0
+    hostname: main
+    ports:
+       - "0.0.0.0:8765:8765"      # foxglove bridge
+       - "0.0.0.0:8760:8760"      # Asset server for loading stuff into foxglove
+    platform: "linux/amd64"
+    device_cgroup_rules:
+       - "c *:* rmw"
+  tileserver:
+    image: maptiler/tileserver-gl
+    volumes:
+      - "./maps:/data"
+    stdin_open: true # docker run -i
+    tty: true        # docker run -t
+    command: ["-p", "80", "-c", "/data/conf.json"]
+    ports:
+      - "8080:80"
+  tester:
+    build: ./docker_tester
+    volumes:
+      - ./rb_ws:/rb_ws
+      - /tmp/.X11-unix:/tmp/.X11-unix
+    stdin_open: true # docker run -i
+    tty: true        # docker run -t
+    environment:
+      - DISPLAY=host.docker.internal:0
+    hostname: tester
+    platform: "linux/amd64"
+    device_cgroup_rules:
+       - "c *:* rmw"
diff --git a/docker-compose-no-gpu.yml b/docker-compose-no-gpu.yml
@@ -1,6 +1,6 @@
 services:
   main:
-    build: .
+    build: ./docker_auton
     volumes:
       - ./rb_ws:/rb_ws
       - "${RLSENSE_PORT:-/dev/null}:/dev/bus/usb"
@@ -14,6 +14,7 @@ services:
     tty: true        # docker run -t
     environment:
       - DISPLAY=host.docker.internal:0
+    hostname: main
     ports:
        - "0.0.0.0:8765:8765"      # foxglove bridge
        - "0.0.0.0:8760:8760"      # Asset server for loading stuff into foxglove

diff --git a/Dockerfile → docker_auton/Dockerfile b/Dockerfile → docker_auton/Dockerfile
@@ -19,11 +19,11 @@ RUN apt-get install -y -qq \
   ros-noetic-realsense2-description
 
 # Run this now to cache it separately from other requirements
-COPY cuda-requirements.txt cuda-requirements.txt
-RUN pip3 install -r cuda-requirements.txt
+COPY cuda-requirements_TEMP_DO_NOT_EDIT.txt cuda-requirements.txt
+# RUN pip3 install -r cuda-requirements.txt
 
 
-COPY python-requirements.txt python-requirements.txt
+COPY python-requirements_TEMP_DO_NOT_EDIT.txt python-requirements.txt
 RUN pip3 install -r python-requirements.txt
 
 RUN echo 'source "/opt/ros/$ROS_DISTRO/setup.bash" --' >> ~/.bashrc

diff --git a/docker_tester/Dockerfile b/docker_tester/Dockerfile
@@ -0,0 +1,36 @@
+FROM nvidia/cuda:11.6.2-base-ubuntu20.04 as CUDA
+
+FROM osrf/ros:noetic-desktop-full-focal
+
+COPY --from=CUDA /usr/local/cuda /usr/local/
+
+
+RUN apt update
+RUN apt-get install -y -qq \
+  python3-pip \
+  python3-tk \
+  vim git tmux tree sl htop x11-apps
+
+RUN apt-get install -y -qq \
+  ros-noetic-rosserial \
+  ros-noetic-foxglove-bridge \
+  ros-noetic-microstrain-inertial-driver \
+  ros-noetic-realsense2-camera \
+  ros-noetic-realsense2-description \
+  iputils-ping
+
+COPY python-requirements_TEMP_DO_NOT_EDIT.txt python-requirements.txt
+RUN pip3 install -r python-requirements.txt
+
+RUN echo 'source "/opt/ros/$ROS_DISTRO/setup.bash" --' >> ~/.bashrc
+RUN echo 'cd rb_ws' >> ~/.bashrc
+RUN echo 'catkin_make >/dev/null' >> ~/.bashrc
+RUN echo 'source devel/setup.bash' >> ~/.bashrc
+RUN echo 'export ROS_MASTER_URI=http://main:11311' >> ~/.bashrc
+
+# shoestring fix since installing numba from pythonrequirements 
+# smh breaks
+RUN pip3 install numba
+
+# add mouse to tmux
+RUN echo 'set -g mouse on' >> ~/.tmux.conf
diff --git a/setup_dev.sh b/setup_dev.sh
@@ -2,12 +2,14 @@
 
 no_gpu=false
 force_gpu=false
+run_automated_testing_docker=false
 
 usage() {
   echo "Usage: $0 [options]"
   echo "Options:"
   echo " --no-gpu        Disable CUDA support. Required to run on systems without Nvidia Container Toolkit."
   echo " --force-gpu     Force a GPU build even if Nvidia Container Toolkit is not detected"
+  echo " --run-testing   Run the testing docker container"
 }
 
 while [ $# -gt 0 ]; do
@@ -22,6 +24,9 @@ while [ $# -gt 0 ]; do
     --force-gpu)
       force_gpu=true
       ;;
+    --run-testing)
+      run_automated_testing_docker=true
+      ;;
     *)
       echo "Invalid option: $1" >&2
       usage
@@ -50,16 +55,36 @@ fi
 # Actual logic here #
 #####################
 
-if $no_gpu
+if $no_gpu && ! $run_automated_testing_docker
 then
   dockerfile="docker-compose-no-gpu.yml"
-else
+fi
+
+if ! $no_gpu && ! $run_automated_testing_docker
+then
   dockerfile="docker-compose-gpu.yml"
 fi
 
+if $no_gpu && $run_automated_testing_docker
+then
+  dockerfile="docker-compose-no-gpu-automated-testing.yml"
+fi
+
+if ! $no_gpu && $run_automated_testing_docker
+then
+  dockerfile="docker-compose-gpu-automated-testing.yml"
+fi
+
 echo "Killing old development containers..."
-docker compose -f docker-compose-no-gpu.yml down # kill old containers
-docker compose -f docker-compose-gpu.yml down # kill old containers
+docker compose -f docker-compose-gpu-automated-testing.yml down # kill old containers, this is most complete
+
+# copy python-requirements + cuda-requirements into appropriate folders for docker compose
+cp python-requirements.txt docker_auton
+mv docker_auton/python-requirements.txt docker_auton/python-requirements_TEMP_DO_NOT_EDIT.txt
+cp python-requirements.txt docker_tester
+mv docker_tester/python-requirements.txt docker_tester/python-requirements_TEMP_DO_NOT_EDIT.txt
+cp cuda-requirements.txt docker_auton
+mv docker_auton/cuda-requirements.txt docker_auton/cuda-requirements_TEMP_DO_NOT_EDIT.txt
 
 echo "Building containers..."
 docker compose -f $dockerfile build

diff --git a/setup_prod.sh b/setup_prod.sh
@@ -2,12 +2,14 @@
 
 no_gpu=false
 force_gpu=false
+run_automated_testing_docker=false
 
 usage() {
   echo "Usage: $0 [options]"
   echo "Options:"
   echo " --no-gpu        Disable CUDA support. Required to run on systems without Nvidia Container Toolkit."
   echo " --force-gpu     Force a GPU build even if Nvidia Container Toolkit is not detected"
+  echo " --run-testing   Run the testing docker container"
 }
 
 while [ $# -gt 0 ]; do
@@ -22,6 +24,9 @@ while [ $# -gt 0 ]; do
     --force-gpu)
       force_gpu=true
       ;;
+    --run-testing)
+      run_automated_testing_docker=true
+      ;;
     *)
       echo "Invalid option: $1" >&2
       usage
@@ -49,16 +54,38 @@ fi
 # Actual logic here #
 #####################
 
-if $no_gpu
+if $no_gpu && ! $run_automated_testing_docker
 then
   dockerfile="docker-compose-no-gpu.yml"
-else
+fi
+
+if ! $no_gpu && ! $run_automated_testing_docker
+then
   dockerfile="docker-compose-gpu.yml"
 fi
 
+if $no_gpu && $run_automated_testing_docker
+then
+  dockerfile="docker-compose-no-gpu-automated-testing.yml"
+fi
+
+if ! $no_gpu && $run_automated_testing_docker
+then
+  dockerfile="docker-compose-gpu-automated-testing.yml"
+fi
+
 echo "Killing all containers..."
 docker kill $(docker ps -q)
 
+
+# copy python-requirements + cuda-requirements into appropriate folders for docker compose
+cp python-requirements.txt docker_auton
+mv docker_auton/python-requirements.txt docker_auton/python-requirements_TEMP_DO_NOT_EDIT.txt
+cp python-requirements.txt docker_tester
+mv docker_tester/python-requirements.txt docker_tester/python-requirements_TEMP_DO_NOT_EDIT.txt
+cp cuda-requirements.txt docker_auton
+mv docker_auton/cuda-requirements.txt docker_auton/cuda-requirements_TEMP_DO_NOT_EDIT.txt
+
 echo "Building containers..."
 docker compose -f $dockerfile build