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Merged
JWhitleyWork merged 1 commit into from
Feb 13, 2026
Merged

Update Dockerfile and docker-compose to match example_ws #53

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141 changes: 10 additions & 131 deletions Dockerfile
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Original file line number Diff line number Diff line change
Expand Up @@ -6,8 +6,8 @@
#

# Specify the MoveIt Pro release to build on top of.
ARG MOVEIT_STUDIO_BASE_IMAGE
ARG USERNAME=studio-user
ARG MOVEIT_PRO_BASE_IMAGE=picknikciuser/moveit-studio:${MOVEIT_DOCKER_TAG:-main}-${MOVEIT_ROS_DISTRO:-humble}
ARG USERNAME=moveit-pro-user
ARG USER_UID=1000
ARG USER_GID=1000

Expand All @@ -16,7 +16,7 @@ ARG USER_GID=1000
##################################################
# The image tag is specified in the argument itself.
# hadolint ignore=DL3006
FROM ${MOVEIT_STUDIO_BASE_IMAGE} AS base
FROM ${MOVEIT_PRO_BASE_IMAGE} AS base

# Create a non-root user
ARG USERNAME
Expand Down Expand Up @@ -51,13 +51,17 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
# Add user to video group to enable communication with cameras
RUN usermod -aG dialout,video ${USERNAME}

# Add user to the realtime group to enable RT limits
RUN groupadd realtime && \
usermod -a -G realtime ${USERNAME}

# Install additional dependencies
# You can also add any necessary apt-get install, pip install, etc. commands at this point.
# NOTE: The /opt/overlay_ws folder contains MoveIt Pro binary packages and the source file.
# hadolint ignore=SC1091
RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
--mount=type=cache,target=/var/lib/apt,sharing=locked \
--mount=type=bind,target=${USER_WS}/,source=. \
--mount=type=bind,target=${USER_WS}/src,source=./src \
. /opt/overlay_ws/install/setup.sh && \
apt-get update && \
rosdep install -q -y \
Expand Down Expand Up @@ -94,7 +98,8 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
apt-get install -y --no-install-recommends \
less \
gdb \
nano
nano \
tmux

# Set up the user's .bashrc file and shell.
CMD ["/usr/bin/bash"]
Expand All @@ -113,129 +118,3 @@ WORKDIR $USER_WS

# Set up the user's .bashrc file and shell.
CMD ["/usr/bin/bash"]

##################################################
# Starting from the specified MoveIt Pro release with CUDA GPU #
##################################################
# The image tag is specified in the argument itself.
# hadolint ignore=DL3006
FROM ${MOVEIT_STUDIO_BASE_IMAGE} AS base-gpu

# Create a non-root user
ARG USERNAME
ARG USER_UID
ARG USER_GID

# hadolint ignore=DL3008
RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
--mount=type=cache,target=/var/lib/apt,sharing=locked \
apt-get update && apt-get install wget -y -q --no-install-recommends && \
wget --progress=dot:giga https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2204/x86_64/cuda-keyring_1.1-1_all.deb && \
dpkg -i cuda-keyring_1.1-1_all.deb && \
apt-get update && \
apt-get install -q -y --no-install-recommends \
libcudnn9-cuda-12 \
libcudnn9-dev-cuda-12 \
libcublas-12-6 \
cuda-cudart-12-6 \
libcurand-12-6 \
libcufft-12-6 \
libnvinfer10 \
libnvinfer-plugin10 \
libnvonnxparsers10 \
libtree

# Misleading name: onnxruntime_gpu is actually specifically the CUDA package. This is only shipped for x86-64
RUN if [ "$(uname -m)" = "x86_64" ]; then pip3 install --no-cache-dir onnxruntime_gpu==1.19.0; fi

# Copy source code from the workspace's ROS 2 packages to a workspace inside the container
ARG USER_WS=/home/${USERNAME}/user_ws
ENV USER_WS=${USER_WS}

# Also mkdir with user permission directories which will be mounted later to avoid docker creating them as root
WORKDIR $USER_WS
# hadolint ignore=DL3008
RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
--mount=type=cache,target=/var/lib/apt,sharing=locked \
groupadd --gid $USER_GID ${USERNAME} && \
useradd --uid $USER_UID --gid $USER_GID --shell /bin/bash --create-home ${USERNAME} && \
apt-get update && \
apt-get install -q -y --no-install-recommends sudo && \
echo ${USERNAME} ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/${USERNAME} && \
chmod 0440 /etc/sudoers.d/${USERNAME} && \
cp -r /etc/skel/. /home/${USERNAME} && \
mkdir -p \
/home/${USERNAME}/.ccache \
/home/${USERNAME}/.config \
/home/${USERNAME}/.ignition \
/home/${USERNAME}/.colcon \
/home/${USERNAME}/.ros && \
chown -R $USER_UID:$USER_GID /home/${USERNAME} /opt/overlay_ws/

# Install additional dependencies
# You can also add any necessary apt-get install, pip install, etc. commands at this point.
# NOTE: The /opt/overlay_ws folder contains MoveIt Pro binary packages and the source file.
# hadolint ignore=SC1091
RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
--mount=type=cache,target=/var/lib/apt,sharing=locked \
--mount=type=bind,target=${USER_WS}/,source=. \
. /opt/overlay_ws/install/setup.sh && \
apt-get update && \
rosdep install -q -y \
--from-paths src \
--ignore-src

# Set up colcon defaults for the new user
USER ${USERNAME}
RUN colcon mixin add default \
https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml && \
colcon mixin update && \
colcon metadata add default \
https://raw.githubusercontent.com/colcon/colcon-metadata-repository/master/index.yaml && \
colcon metadata update
COPY colcon-defaults.yaml /home/${USERNAME}/.colcon/defaults.yaml

# hadolint ignore=DL3002
USER root

# Set up the user's .bashrc file and shell.
CMD ["/usr/bin/bash"]

###################################################################
# Target for the developer build which does not compile any code. #
###################################################################
FROM base-gpu AS user-overlay-gpu-dev

ARG USERNAME
ARG USER_WS=/home/${USERNAME}/user_ws
ENV USER_WS=${USER_WS}

# Install any additional packages for development work
# hadolint ignore=DL3008
RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
--mount=type=cache,target=/var/lib/apt,sharing=locked \
apt-get update && \
apt-get install -y --no-install-recommends \
less \
gdb \
nano

# Set up the user's .bashrc file and shell.
CMD ["/usr/bin/bash"]

#########################################
# Target for compiled, deployable image with GPU support #
#########################################
FROM base-gpu AS user-overlay-gpu

ARG USERNAME
ARG USER_WS=/home/${USERNAME}/user_ws
ENV USER_WS=${USER_WS}

ENV LD_LIBRARY_PATH=/usr/local/lib/python3.10/dist-packages/onnxruntime/capi:/usr/lib/x86_64-linux-gnu:/usr/local/cuda-12.6/targets/x86_64-linux/lib:$LD_LIBRARY_PATH

# Compile the workspace
WORKDIR $USER_WS

# Set up the user's .bashrc file and shell.
CMD ["/usr/bin/bash"]
12 changes: 10 additions & 2 deletions docker-compose.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -3,18 +3,26 @@

# Services that are listed under `/opt/moveit_pro/docker-compose.yaml` are mirrored here for merging.
# Feel free to remove services here that are unmodified.
#
services:

# The base image that all MoveIt Pro services extend off of. Builds the user workspace.
base: {}

# Starts the MoveIt Pro Agent and the Bridge between the Agent and the Web UI.
agent_bridge: {}

# Starts the robot drivers.
drivers: {}
drivers:
volumes:
# Allow access to host hardware e.g. RealSense cameras
- /dev:/dev

# Starts the web UI frontend.
web_ui: {}

# Developer specific configuration when running `moveit_pro dev`.
dev: {}
dev:
volumes:
# Allow access to host hardware e.g. RealSense cameras
- /dev:/dev