feat: RAI dockerfiles #377

maciejmajek · 2025-01-19T21:20:41Z

Purpose

As discussed in #345, integrating RAI into other environments can be challenging, especially when working with pre-established local setups (e.g., conda installations, custom Python wrappers, etc.). Providing Docker images and Dockerfiles accessible to developers could significantly simplify the process of setting up and using RAI.

Proposed Changes

Introduce experimental Docker images to facilitate easier RAI setup.

Issues

Closing #376

Testing

Build and run Docker images.
Execute tests using pytest.

rachwalk

What's the rationale for having two dockerfiles? I think that a better solution would be to use ARG ROS_DISTRO=jazzy (for default value). That would halve the need for maintanence of the docker (change one file instead of to) and allow for building with a single parametrized command: docker build --build-arg ROS_DISTRO=humble .

Also I believe it would be a good practice to verify in the CI that the docker images do in fact build, as means of testing. It is a decently common occurance for a docker image to break unexpectedly, so it's good to have that test.

docker/Dockerfile.humble

docker/Dockerfile.jazzy

maciejmajek · 2025-01-20T11:01:36Z

@rachwalk thank you for the feedback. I've refactored dockerfiles into single file and used osrf base image.

boczekbartek

@maciejmajek Thank you! Good initiative to add docker support.
For clean repo docker seem to work fine with suggested changes, but I failed to build a repo with O3DE examples (I tried with manipulation demo - it lacks moveit dependencies). I'll report back with a proposal to improve current setup.

docker/Dockerfile

docs/setup_docker.md

maciejmajek · 2025-01-20T17:03:06Z

@boczekbartek I think the demos define theirs additional deps?

boczekbartek · 2025-01-20T21:44:06Z

@maciejmajek Yes, they do. Do you plan to handle them in this PR or should it be implemented in demos?

maciejmajek · 2025-01-20T21:45:16Z

@boczekbartek For now, I think that it should be developer's responsibility to install additional dependencies. I'm open to discussing it in the future. I will create an issue regarding docker difficulties in rai

docker/Dockerfile

boczekbartek · 2025-01-21T00:18:15Z

For now, I think that it should be developer's responsibility to install additional dependencies. I'm open to discussing it in the future. I will create an issue regarding docker difficulties in rai

@maciejmajek Fine by me! I think submitting an issue is a good idea, because demos might need some work to be available through docker. I had some success, but also some problems.

Success:

when I downloaded manipulation_demo binary from manipulation_demo and ran it locally, I was able to run debugging_assistant in docker and see it's ros2 interfaces (topics/services etc). I used cyclone-dds.

Problems:
I followed the instructions of the demo and successfully installed additional packages with rosdep. However I noticed 2 problems. For the sake of running o3de outside of docker (not to overcomplicate the setup with opening a windowed app in docker) I simplified the manipulation-demo.launch.py only to run vision and moveit nodes

container should be run with --runtime=nvidia, rai_openset_vision requires it (easily solvable with nvidia-container-runtime and docs adaptation)
for some reason moveit fails:

error

[move_group-3] [FATAL] [1737418587.903365475] [move_group.moveit.moveit.ros.planning_pipeline]: Exception while loading planner 'chomp_interface/CHOMPPlanner': According to the loaded plugin descriptions the class chomp_interface/CHOMPPlanner with base class type planning_interface::PlannerManager does not exist. Declared types are  ompl_interface/OMPLPlanner pilz_industrial_motion_planner/CommandPlanner stomp_moveit/StompPlannerAvailable plugins: ompl_interface/OMPLPlanner, pilz_industrial_motion_planner/CommandPlanner, stomp_moveit/StompPlanner
[move_group-3] terminate called after throwing an instance of 'pluginlib::LibraryLoadException'
[move_group-3]   what():  According to the loaded plugin descriptions the class chomp_interface/CHOMPPlanner with base class type planning_interface::PlannerManager does not exist. Declared types are  ompl_interface/OMPLPlanner pilz_industrial_motion_planner/CommandPlanner stomp_moveit/StompPlanner
[move_group-3] Stack trace (most recent call last):
[move_group-3] #16   Object "", at 0xffffffffffffffff, in 
[move_group-3] #15   Object "/opt/ros/jazzy/lib/moveit_ros_move_group/move_group", at 0x5585d090fa44, in _start
[move_group-3] #14   Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7476cf9fb28a, in __libc_start_main
[move_group-3] #13   Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7476cf9fb1c9, in 
[move_group-3] #12   Object "/opt/ros/jazzy/lib/moveit_ros_move_group/move_group", at 0x5585d090e162, in main
[move_group-3] #11   Object "/opt/ros/jazzy/lib/libmoveit_cpp.so.2.12.1", at 0x7476d035882f, in moveit_cpp::MoveItCpp::MoveItCpp(std::shared_ptr<rclcpp::Node> const&, moveit_cpp::MoveItCpp::Options const&)
[move_group-3] #10   Object "/opt/ros/jazzy/lib/libmoveit_cpp.so.2.12.1", at 0x7476d0353f90, in moveit_cpp::MoveItCpp::loadPlanningPipelines(moveit_cpp::MoveItCpp::PlanningPipelineOptions const&)
[move_group-3] #9    Object "/opt/ros/jazzy/lib/libmoveit_planning_pipeline_interfaces.so.2.12.1", at 0x7476cf77e86e, in moveit::planning_pipeline_interfaces::createPlanningPipelineMap(std::vector<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::allocator<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > const&, std::shared_ptr<moveit::core::RobotModel const> const&, std::shared_ptr<rclcpp::Node> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)
[move_group-3] #8    Object "/opt/ros/jazzy/lib/libmoveit_planning_pipeline.so.2.12.1", at 0x7476cf65017c, in planning_pipeline::PlanningPipeline::PlanningPipeline(std::shared_ptr<moveit::core::RobotModel const> const&, std::shared_ptr<rclcpp::Node> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&)
[move_group-3] #7    Object "/opt/ros/jazzy/lib/libmoveit_planning_pipeline.so.2.12.1", at 0x7476cf63ad70, in 
[move_group-3] #6    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7476cfcb5a61, in 
[move_group-3] #5    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7476cfcb5a48, in std::terminate()
[move_group-3] #4    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7476cfccae9b, in 
[move_group-3] #3    Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7476cfcb5ffd, in 
[move_group-3] #2    Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7476cf9f98fe, in abort
[move_group-3] #1    Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7476cfa1626d, in raise
[move_group-3] #0    Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7476cfa6fb1c, in pthread_kill
[move_group-3] Aborted (Signal sent by tkill() 2986497 0)

Co-authored-by: Bartek Boczek <[email protected]>

maciejmajek linked an issue Jan 19, 2025 that may be closed by this pull request

Docker image for RAI #376

Open

This was referenced Jan 19, 2025

integrate with LeRobot #345

Open

Docker image for RAI #376

Open

rachwalk reviewed Jan 20, 2025

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boczekbartek self-requested a review January 20, 2025 16:21

boczekbartek requested changes Jan 20, 2025

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boczekbartek reviewed Jan 20, 2025

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boczekbartek approved these changes Jan 21, 2025

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maciejmajek and others added 9 commits January 21, 2025 15:31

feat: docker images

6e31f9c

fix: init and update rosdep

9c67784

docs: add missing running instructions for jazzy

325225d

chore: add license header

2632c87

fix: docker run commands

2dcb7aa

refactor: use single dockerfile with ARG

760abde

chore: add rmw info

2899863

fix: add network settings to docker run

44ca325

Update docker/Dockerfile

093ea39

Co-authored-by: Bartek Boczek <[email protected]>

maciejmajek force-pushed the feat/dockerfiles branch from c908b8f to 093ea39 Compare January 21, 2025 14:31

maciejmajek merged commit 9322016 into development Jan 21, 2025
5 checks passed

maciejmajek deleted the feat/dockerfiles branch January 21, 2025 14:35

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feat: RAI dockerfiles #377

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feat: RAI dockerfiles #377

feat: RAI dockerfiles #377

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maciejmajek commented Jan 19, 2025

Purpose

Proposed Changes

Issues

Testing

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