How to docker ubuntu #291

abake48 · 2022-01-14T21:39:10Z

Description

Added How To Guide for creating Docker containers for Moveit2 in Ubuntu

Checklist

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…eit2_tutorials into how-to-docker-ubuntu

tylerjw · 2022-01-14T21:42:11Z

Please run the local checks pre-commit and htmlproofer as explained here to get this to pass CI: https://moveit.picknik.ai/main/doc/how_to_contribute/how_to_contribute_to_site.html

vatanaksoytezer · 2022-01-14T21:40:50Z

doc/how_to_guides/how_to_setup_docker_containers_in_ubuntu.rst

+  cd ~/Docker/scripts/
+  gedit start-docker.sh
+
+2. Copy and paste the following script inside of the opened text file


I would recommend just pulling the script with wget instead of copy pasting

@tylerjw where in this repo should I add the script? /_scripts?

vatanaksoytezer · 2022-01-14T21:41:09Z

doc/how_to_guides/how_to_setup_docker_containers_in_ubuntu.rst

+::
+  mkdir -p ~/Docker/scripts
+  cd ~/Docker/scripts/
+  gedit start-docker.sh


I think it's better if we make people use this script as functions in their bashrc

vatanaksoytezer · 2022-01-14T21:43:40Z

doc/how_to_guides/how_to_setup_docker_containers_in_ubuntu.rst

+::
+    ~/Docker/scripts/start-docker.sh moveit2-galactic moveit/moveit2:galactic-source false
+
+4. You should now be inside of your docker container, in the workspace directory. You should now be able to start working with Moveit!


It is good to add here that people don't have to use the second argument (image name). After the first run. the first ~/Docker/scripts/start-docker.sh moveit2-galactic moveit/moveit2:galactic-source creates a container named moveit2-galactic. After the container is created users can just run the container with ~/Docker/scripts/start-docker.sh moveit2-galactic

jackcenter · 2022-01-14T22:27:18Z

doc/how_to_guides/how_to_setup_docker_containers_in_ubuntu.rst

@@ -0,0 +1,126 @@
+How to Setup Moveit2 Docker Containers in Ubuntu


Suggested change

How to Setup Moveit2 Docker Containers in Ubuntu

How to Setup Moveit 2 Docker Containers in Ubuntu

jonathan-fries · 2022-01-14T22:36:42Z

doc/how_to_guides/how_to_setup_docker_containers_in_ubuntu.rst

+
+1. Open a terminal session and create an empty text file.
+::
+  mkdir -p ~/Docker/scripts


I had to do this as four commands:

mkdir Docker
cd Docker
mkdir scripts
cd scripts

I may be doing something wrong.

Is there any chance you are missing -p @jonathan-fries ?

jonathan-fries · 2022-01-14T22:38:17Z

doc/how_to_guides/how_to_setup_docker_containers_in_ubuntu.rst

+How to Setup Moveit2 Docker Containers in Ubuntu
+=================================================
+This guide will provide a walkthrough on how to get docker container with Moveit2 dependencies setup quickly.
+Provided in this guide is a script that will get you up and running in Moveit quickly!


Suggested change

Provided in this guide is a script that will get you up and running in Moveit quickly!

It includes a script that will get you up and running in Moveit quickly!

jonathan-fries · 2022-01-14T22:44:22Z

doc/how_to_guides/how_to_setup_docker_containers_in_ubuntu.rst

+      fi
+  fi
+
+ There are 3 parameters for the script.


This shows up included in the script block on the page for me, which causes the script to have errors.

jackcenter · 2022-01-14T22:44:53Z

doc/how_to_guides/how_to_setup_docker_containers_in_ubuntu.rst

+  - using_gpu : if `true`, the docker will be run using nvidia gpu drivers. By default, this value is true.
+
+3. Running the script
+


I think we need to tell the user to make the script executable

Suggested change

chmod +x start-docker.sh

jonathan-fries · 2022-01-14T22:45:38Z

doc/how_to_guides/how_to_setup_docker_containers_in_ubuntu.rst

+  - name_of_the_image : if you are creating a fresh docker container, provide the name of the docker image here
+  - using_gpu : if `true`, the docker will be run using nvidia gpu drivers. By default, this value is true.
+
+3. Running the script


Suggested change

3. Running the script

3. Run the script

jonathan-fries · 2022-01-14T22:46:12Z

doc/how_to_guides/how_to_setup_docker_containers_in_ubuntu.rst

+  - using_gpu : if `true`, the docker will be run using nvidia gpu drivers. By default, this value is true.
+
+3. Running the script
+


I had to do a chmod on the script to make it executable.

jonathan-fries · 2022-01-14T22:49:20Z

doc/how_to_guides/how_to_setup_docker_containers_in_ubuntu.rst

+
+To run the script and use nvidia gpu drivers
+::
+    ~/Docker/scripts/start-docker.sh moveit2-galactic moveit/moveit2:galactic-source


I get permission denied errors when trying to run this. I don't know the sudo password for the machine so perhaps that would bypass that problem. Perhaps everyone in the Linux world knows to do this? It wasn't obvious to me.

I think having a note near the top would help for this. Something along the lines of step 1: ensure you've installed docker and completed the Linux Postinstall steps. If you do not complete these additional steps you'll need to preface docker commands with sudo

doc/how_to_guides/how_to_setup_docker_containers_in_ubuntu.rst

mergify · 2022-01-18T01:29:42Z

This pull request is in conflict. Could you fix it @abake48?

Co-authored-by: Jack <jack.center@picknik.ai>

stephanie-eng

I put a few editorial comments in, mostly to do with grammar/capitalization. Thanks for this great tutorial!

stephanie-eng · 2022-05-11T18:16:39Z

doc/how_to_guides/how_to_setup_docker_containers_in_ubuntu.rst

@@ -0,0 +1,72 @@
+How to Setup Moveit 2 Docker Containers in Ubuntu
+=================================================
+This guide will provide a walkthrough on how to get docker container with Moveit 2 dependencies setup quickly.


Suggested change

This guide will provide a walkthrough on how to get docker container with Moveit 2 dependencies setup quickly.

This guide will provide a walkthrough on how to get a Docker container with MoveIt 2 dependencies set up quickly.

stephanie-eng · 2022-05-11T18:17:00Z

doc/how_to_guides/how_to_setup_docker_containers_in_ubuntu.rst

+=================================================
+This guide will provide a walkthrough on how to get docker container with Moveit 2 dependencies setup quickly.
+It includes a script that will get you up and running in Moveit quickly!
+This guide is intended for people who would like to have a separate environment for working with Moveit up and running quickly \


Suggested change

This guide is intended for people who would like to have a separate environment for working with Moveit up and running quickly \

This guide is intended for people who would like to have a separate environment for working with MoveIt up and running quickly \

stephanie-eng · 2022-05-11T18:17:15Z

doc/how_to_guides/how_to_setup_docker_containers_in_ubuntu.rst

+Learning Objectives
+-------------------
+
+- How to setup a docker environment using the provided script


Suggested change

- How to setup a docker environment using the provided script

- How to setup a Docker environment using the provided script

stephanie-eng · 2022-05-11T18:18:13Z

doc/how_to_guides/how_to_setup_docker_containers_in_ubuntu.rst

+    mkdir -p ~/Docker/scripts
+    cd ~/Docker/scripts/
+
+3. Fetch docker script and make it executable


Suggested change

3. Fetch docker script and make it executable

3. Download the Docker script and make it executable.

The user also needs to install nvidia-docker2 if they are going to use NVIDIA GPU

I'll add that to the pre reqs!

stephanie-eng · 2022-05-11T18:18:38Z

doc/how_to_guides/how_to_setup_docker_containers_in_ubuntu.rst

+    wget https://raw.githubusercontent.com/ros-planning/moveit2_tutorials/how-to-docker-ubuntu/_scripts/start-docker.sh
+    chmod +x ~/Docker/scripts/start-docker.sh
+
+4. Run the script


Suggested change

4. Run the script

4. Run the script.

stephanie-eng · 2022-05-11T18:48:54Z

doc/how_to_guides/how_to_setup_docker_containers_in_ubuntu.rst

+
+    ~/Docker/scripts/start-docker.sh moveit2-galactic moveit/moveit2:galactic-source false
+
+  After running the script for the first time, you only would need to


Suggested change

After running the script for the first time, you only would need to

After running the script for the first time, you only would need to:

Or maybe, to be a bit more descriptive:

Suggested change

After running the script for the first time, you only would need to

Running the script for the first time creates the container for you. After this, you only would need to start the container with:

stephanie-eng · 2022-05-11T18:49:13Z

doc/how_to_guides/how_to_setup_docker_containers_in_ubuntu.rst

+
+    ~/Docker/scripts/start-docker.sh moveit2-galactic
+
+5. You should now be inside of your docker container, in the workspace directory. You should now be able to start working with Moveit!


Suggested change

5. You should now be inside of your docker container, in the workspace directory. You should now be able to start working with Moveit!

5. You should now be inside of your Docker container, in the workspace directory. You should now be able to start working with MoveIt!

stephanie-eng · 2022-05-11T18:49:27Z

doc/how_to_guides/how_to_setup_docker_containers_in_ubuntu.rst

+
+Further Reading
+---------------
+- For more information about Docker best practices with respects to Moveit,


Suggested change

- For more information about Docker best practices with respects to Moveit,

- For more information about Docker best practices with respect to MoveIt,

stephanie-eng · 2022-05-11T18:49:58Z

doc/how_to_guides/how_to_setup_docker_containers_in_ubuntu.rst

+---------------
+- For more information about Docker best practices with respects to Moveit,
+  refer to `this blog post <https://picknik.ai/ros/robotics/docker/2021/07/20/Vatan-Aksoy-Tezer-Docker.html>`_
+  from Picknik's Vatan Aksoy Tezer and Brennard Pierce.


Suggested change

from Picknik's Vatan Aksoy Tezer and Brennard Pierce.

from PickNik's Vatan Aksoy Tezer and Brennard Pierce.

stephanie-eng · 2022-05-11T18:51:00Z

doc/how_to_guides/how_to_setup_docker_containers_in_ubuntu.rst

+  refer to `this blog post <https://picknik.ai/ros/robotics/docker/2021/07/20/Vatan-Aksoy-Tezer-Docker.html>`_
+  from Picknik's Vatan Aksoy Tezer and Brennard Pierce.
+
+- `Here <https://hub.docker.com/r/moveit/moveit2/tags>`_ is a list of the available moveit2 docker images available.


Suggested change

- `Here <https://hub.docker.com/r/moveit/moveit2/tags>`_ is a list of the available moveit2 docker images available.

- `Here <https://hub.docker.com/r/moveit/moveit2/tags>`_ is a list of the available MoveIt 2 Docker images available.

Perhaps it could help to add a bit more exposition on how to use these here, some thing like:

You can use any of the images in that link by substituting the second parameter in the script. name_of_the_image, with moveit/moveit2:<tag_name>, where <tag_name> is from the above link. The above example steps use the image with the tag galactic-source.

Also maybe a small explanation of the tags here, particularly the only ones needed to be used by users are release and source tags.

That's a good idea, I'll add that.

stephanie-eng

I have some very tiny suggestions but otherwise this looks great to me!

stephanie-eng · 2022-05-16T20:44:55Z

doc/how_to_guides/how_to_setup_docker_containers_in_ubuntu.rst

@@ -0,0 +1,84 @@
+How to Setup MoveIt 2 Docker Containers in Ubuntu


Suggested change

How to Setup MoveIt 2 Docker Containers in Ubuntu

How to Set Up MoveIt 2 Docker Containers in Ubuntu

stephanie-eng · 2022-05-16T20:45:18Z

doc/how_to_guides/how_to_setup_docker_containers_in_ubuntu.rst

+    ~/Docker/scripts/start-docker.sh moveit2-galactic moveit/moveit2:galactic-source
+
+  If the above command fails, it is likely that Nvidia drivers cannot be used or are installed correctly. In which case, you can still proceed without using Nvidia drivers!
+  First, You'll need to remove the container you just created by running the following command:


Suggested change

First, You'll need to remove the container you just created by running the following command:

First, you'll need to remove the container you just created by running the following command:

stephanie-eng · 2022-05-16T20:45:27Z

doc/how_to_guides/how_to_setup_docker_containers_in_ubuntu.rst

+    mkdir -p ~/Docker/scripts
+    cd ~/Docker/scripts/
+
+3.  Download the Docker script and make it executable


Suggested change

3. Download the Docker script and make it executable

3. Download the Docker script and make it executable.

stephanie-eng · 2022-05-16T20:46:01Z

doc/how_to_guides/how_to_setup_docker_containers_in_ubuntu.rst

+- You can find a list of tagged images for the MoveIt 2 Docker container `here <https://hub.docker.com/r/moveit/moveit2/tags>`_.
+  The tagged images coincide with ROS2 version releases. The ``release`` version of the container provides an environment in which MoveIt 2 is installed via the binaries.
+  The ``source`` version of the Docker image will build MoveIt 2 from source.
+  You can use any of the images in that link by substituting the second parameter in the script. ``name_of_the_image``, with moveit/moveit2:<tag_name>, where ``<tag_name>`` is from the above link.


Suggested change

You can use any of the images in that link by substituting the second parameter in the script. ``name_of_the_image``, with moveit/moveit2:<tag_name>, where ``<tag_name>`` is from the above link.

You can use any of the images in that link by substituting the second parameter in the script, ``name_of_the_image``, with moveit/moveit2:<tag_name>, where ``<tag_name>`` is from the above link.

stephanie-eng

Thanks for making those changes!

tylerjw

I tried this out and it worked well. I ran it with this command and it worked for me. I think you should update the text in this HowTo to target Ubuntu 22.04 and Rolling as this is for main.

start-docker.sh moveit2-rolling moveit/moveit2:rolling-source

tylerjw · 2022-05-17T02:13:54Z

doc/how_to_guides/how_to_setup_docker_containers_in_ubuntu.rst

+This guide will provide a walkthrough on how to get a Docker container with MoveIt 2 dependencies set up quickly.
+It includes a script that will get you up and running in MoveIt quickly!
+This guide is intended for people who would like to have a separate environment for working with MoveIt up and running quickly \
+without having to do much configuring. In this guide, we will be setting up a ROS2 Galactic environment.


As this targets the main branch it would be really nice if this was for Ubuntu 22.04 and Rolling. If you make that switch this tutorial should also easily apply to Humble. Of course we can also backport this to Galactic as well.

tylerjw · 2022-05-17T02:17:16Z

doc/how_to_guides/how_to_setup_docker_containers_in_ubuntu.rst

+  .. code-block:: bash
+
+    wget https://raw.githubusercontent.com/ros-planning/moveit2_tutorials/how-to-docker-ubuntu/_scripts/start-docker.sh
+    chmod +x ~/Docker/scripts/start-docker.sh


I don't think you need the full file-path here as the first command will write this into the local directory.

tylerjw · 2022-05-17T02:26:09Z

doc/how_to_guides/how_to_setup_docker_containers_in_ubuntu.rst

+
+  .. code-block:: bash
+
+    mkdir -p ~/Docker/scripts


Would it be much more standard to just put this in .local/bin or some similar directory? Then you don't need to specify the full file path later... that or maybe you could create a repo with this file if you expect to update it in the future and people could put it in ~/opt or something similar and then they could update it when you push updates.

Co-authored-by: Jafar Abdi <cafer.abdi@gmail.com> Co-authored-by: Jack <jack.center@picknik.ai> (cherry picked from commit c526967)

Co-authored-by: Jafar Abdi <cafer.abdi@gmail.com> Co-authored-by: Jack <jack.center@picknik.ai> (cherry picked from commit c526967) # Conflicts: # doc/how_to_guides/how_to_guides.rst

abake48 added 2 commits January 14, 2022 14:38

Added guide for ubuntu docker containers

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Merge branch 'how-to-docker-ubuntu' of https://github.com/abake48/mov…

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…eit2_tutorials into how-to-docker-ubuntu

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JafarAbdi and others added 5 commits January 25, 2022 14:11

Merge branch 'main' into how-to-docker-ubuntu

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Co-authored-by: Jack <jack.center@picknik.ai>

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abake48 added 5 commits May 16, 2022 13:41

Addressed PR suggestions. Added tag explanation

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vatanaksoytezer mentioned this pull request May 19, 2022

Help needed: How to build the feature/msa branch? moveit/moveit2#1259

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use rolling image and move script to .local

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Merge branch 'main' into how-to-docker-ubuntu

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tylerjw merged commit c526967 into moveit:main May 24, 2022

tylerjw added backport-foxy This label signals Mergify to backport this PR to Foxy backport-galactic This label signals Mergify to backport this PR to Galactic backport-humble This label signals Mergify to backport this PR to Humble labels May 24, 2022

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How to docker ubuntu (#291)

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Co-authored-by: Jafar Abdi <cafer.abdi@gmail.com> Co-authored-by: Jack <jack.center@picknik.ai> (cherry picked from commit c526967)

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Co-authored-by: Jafar Abdi <cafer.abdi@gmail.com> Co-authored-by: Jack <jack.center@picknik.ai> (cherry picked from commit c526967)

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How to docker ubuntu (#291)

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Co-authored-by: Jafar Abdi <cafer.abdi@gmail.com> Co-authored-by: Jack <jack.center@picknik.ai> (cherry picked from commit c526967) # Conflicts: # doc/how_to_guides/how_to_guides.rst

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isaac tutorial rebase #618

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		@@ -0,0 +1,126 @@
		How to Setup Moveit2 Docker Containers in Ubuntu

	How to Setup Moveit2 Docker Containers in Ubuntu
	How to Setup Moveit 2 Docker Containers in Ubuntu

	Provided in this guide is a script that will get you up and running in Moveit quickly!
	It includes a script that will get you up and running in Moveit quickly!

		- using_gpu : if `true`, the docker will be run using nvidia gpu drivers. By default, this value is true.

		3. Running the script

	This guide will provide a walkthrough on how to get docker container with Moveit 2 dependencies setup quickly.
	This guide will provide a walkthrough on how to get a Docker container with MoveIt 2 dependencies set up quickly.

	This guide is intended for people who would like to have a separate environment for working with Moveit up and running quickly \
	This guide is intended for people who would like to have a separate environment for working with MoveIt up and running quickly \

	- How to setup a docker environment using the provided script
	- How to setup a Docker environment using the provided script

	3. Fetch docker script and make it executable
	3. Download the Docker script and make it executable.


		~/Docker/scripts/start-docker.sh moveit2-galactic moveit/moveit2:galactic-source false

		After running the script for the first time, you only would need to

	After running the script for the first time, you only would need to
	Running the script for the first time creates the container for you. After this, you only would need to start the container with:


		~/Docker/scripts/start-docker.sh moveit2-galactic

		5. You should now be inside of your docker container, in the workspace directory. You should now be able to start working with Moveit!

	- For more information about Docker best practices with respects to Moveit,
	- For more information about Docker best practices with respect to MoveIt,

	from Picknik's Vatan Aksoy Tezer and Brennard Pierce.
	from PickNik's Vatan Aksoy Tezer and Brennard Pierce.

	- `Here <https://hub.docker.com/r/moveit/moveit2/tags>`_ is a list of the available moveit2 docker images available.
	- `Here <https://hub.docker.com/r/moveit/moveit2/tags>`_ is a list of the available MoveIt 2 Docker images available.

		@@ -0,0 +1,84 @@
		How to Setup MoveIt 2 Docker Containers in Ubuntu

	How to Setup MoveIt 2 Docker Containers in Ubuntu
	How to Set Up MoveIt 2 Docker Containers in Ubuntu

	First, You'll need to remove the container you just created by running the following command:
	First, you'll need to remove the container you just created by running the following command:

	You can use any of the images in that link by substituting the second parameter in the script. ``name_of_the_image``, with moveit/moveit2:<tag_name>, where ``<tag_name>`` is from the above link.
	You can use any of the images in that link by substituting the second parameter in the script, ``name_of_the_image``, with moveit/moveit2:<tag_name>, where ``<tag_name>`` is from the above link.

How to docker ubuntu #291

How to docker ubuntu #291

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