Docker script

doc/setup.md

@@ -73,6 +73,34 @@ chmod +x /workspace/src/panda_benchmark/scripts/move_to_position.py
 
 ```
 
+### 3B. Seting Up Container with bash scripts
+If you want to use bash script to set up your container, try the module [ros-docker-dev](../ros-docker-dev/README.md).
+Features TLDR;
+ * Volumed
+ * User spoofing
+ * SSH forwarding
+ * Oh-my-zsh
+
+Use the following command to build your image and container. If you want to build with no-cache or to rebuilt the image, please see [ros-docker-dev](../ros-docker-dev/README.md) for more details about this script and launching the containers.
+```bash
+cd ros-docker-dev
+./enterpoint.sh
+```
+
+Now your container should be running and you should be in it's command line. Now setup the dependencies:
+```bash
+source /opt/ros/noetic/setup.zsh
+cd src/relaxed_ik_ros1/relaxed_ik_core
+cargo build
+
+cd ~/workspace
+catkin build
+source devel/setup.zsh
+
+chmod +x ~/workspace/src/panda_benchmark/scripts/
+```
+
+In this way, you should run `roslaunch panda_benchmark interface_b.launch` in [run_robot.md](../doc/run_robot.md) instead of `interface.launch`
 
 ### 4. Set Up Franka Desktop
 Before you can run anything with the FCI, make sure joints are unlocked and FCI Control is enabled in the Franka desktop (our Desktops is at [192.168.1.2](https://192.168.1.2/desk/)). Directions for doing that are [here](https://youtu.be/91wFDNHVXI4?si=4-ZArdrxOMAiCc5H&t=484). WARNING: we could not get Firefox to access the desk because of security reasons. However we could access through chrome once we clicked "Advanced" > "Proceed to 192.168.1.2 (unsafe)".

ros-docker-dev/.gitignore

@@ -0,0 +1,51 @@
+devel/
+logs/
+build/
+bin/
+lib/
+msg_gen/
+srv_gen/
+msg/*Action.msg
+msg/*ActionFeedback.msg
+msg/*ActionGoal.msg
+msg/*ActionResult.msg
+msg/*Feedback.msg
+msg/*Goal.msg
+msg/*Result.msg
+msg/_*.py
+build_isolated/
+devel_isolated/
+
+# Generated by dynamic reconfigure
+*.cfgc
+/cfg/cpp/
+/cfg/*.py
+
+# Ignore generated docs
+*.dox
+*.wikidoc
+
+# eclipse stuff
+.project
+.cproject
+
+# qcreator stuff
+CMakeLists.txt.user
+
+srv/_*.py
+*.pcd
+*.pyc
+qtcreator-*
+*.user
+
+/planning/cfg
+/planning/docs
+/planning/src
+
+*~
+
+# Emacs
+.#*
+
+# Catkin custom files
+CATKIN_IGNORE

ros-docker-dev/README.md

@@ -0,0 +1,65 @@
+# Editable ROS Docker Development
+
+You could also check the latest [github repo README.md](https://github.com/AlfredMoore/ros-docker-dev/blob/volumed/README.md)
+
+## Prerequisites
+You should firstly install [Docker Engine](https://docs.docker.com/engine/install/ubuntu/) on your Ubuntu. Then [manage docker as a non-root user](https://docs.docker.com/engine/install/linux-postinstall/#manage-docker-as-a-non-root-user), to enable `docker` instead of `sudo docker`.
+
+ * NOTE: Do not install Docker Desktop. It is different from the Docker Engine and not so friendly to docker development.
+
+## Panda Noetic
+### Build with cache
+To Create an Image, Run the Container or Open another section in Container, please `cd ros-docker-dev` to enter the dir then run the scripts. 
+```bash
+./enterpoint.sh
+```
+
+### Rebuild or Build with no cache
+If you want to rebuild the image with changed dockerfile or to build with no-cache for the latest dependencies, you could build with no cache by running the following scirpts. In this way, you could rebuild the image from scratch but spend much longer time.
+```bash
+export NOCACHE=true
+./enterpoint.sh
+```
+
+If you want to use cache again in the same terminal section, remember to reset the variable `NOCACHE` by using 
+```bash
+unset NOCACHE
+```
+
+## Features:
+ * Volumed: Container volumed the parent folder(../ros-docker-dev) as the workspace in container. If you don't need it, please comment in the [enterpoint.sh](./enterpoint.sh)
+ ```bash
+ --volume="$(dirname ${ENTERPOINT_DIR}):${WORKSPACE_PATH}"   # Volume the parent of this docker repo to workspace
+ ``` 
+ * User spoofing: Container has the same username and password as the host.
+ * SSH forwarding: Container fetches the same ssh agent as the host (if you have set the ssh-agent in host). No need to add any additional SSH key pair. In the container you could directly use `git` via SSH.
+
+ ## Notes:
+ * Oh-my-zsh: Container has an configured oh-my-zsh. It is editable in the [configs/oh-my-zsh.zshrc](./configs/oh-my-zsh.zshrc).
+ * Editable and Readable: [Dockerfile](./panda-noetic.Dockerfile), [Building Config](./panda-bake.hcl) and [Running Config](./enterpoint.sh). You can also build from the [raw dockerfile](./raw.Dockerfile).
+
+## Contribution
+### [NIST_Benchmark](https://github.com/Wisc-HCI/NIST_Benchmark)
+:warning: **Note: In the container, you will use zsh intead of bash. `zsh` is pretty and more powerful with oh-my-zsh theme and auto-completion. But remember to `source /devel/setup.zsh` instead of `source /devel/setup.bash`**
+
+ * Some computers support directly `sudo apt install libfranka`, but some do not. So comment `RUN apt-get ...` in [panda-noetic.Dockerfile](./panda-noetic.Dockerfile) if it does not work, and you should build from source following [this](https://frankaemika.github.io/docs/installation_linux.html#building-from-source).
+   ```Dockerfile
+   # Install libfranka and franka-ros
+   USER root
+   ## comment the following lines if does work
+   RUN apt-get update && apt-get install --yes \
+       ros-noetic-libfranka ros-noetic-franka-ros
+   ```
+ * Change your docker image name and container name in [env.sh](./env.sh)
+   ```bash
+   # Image Tag and Container Name
+   export IMAGE_TAG="WiscHCI/panda-ros:${GIT_LABEL}"
+   export CONTAINER_NAME="ros-panda-noetic"
+   ```
+
+## e.g.
+![example](./example.jpg)
+
+
+## TODO ~~(TBD: lazy man)~~
+Update to docker compose run and build (docker compose documents are unclear).

ros-docker-dev/configs/oh-my-zsh.zshrc

@@ -0,0 +1,124 @@
+# If you come from bash you might have to change your $PATH.
+# export PATH=$HOME/bin:$HOME/.local/bin:/usr/local/bin:$PATH
+
+# Path to your Oh My Zsh installation.
+export ZSH="$HOME/.oh-my-zsh"
+
+# Set name of the theme to load --- if set to "random", it will
+# load a random theme each time Oh My Zsh is loaded, in which case,
+# to know which specific one was loaded, run: echo $RANDOM_THEME
+# See https://github.com/ohmyzsh/ohmyzsh/wiki/Themes
+ZSH_THEME="agnoster"
+
+# Set list of themes to pick from when loading at random
+# Setting this variable when ZSH_THEME=random will cause zsh to load
+# a theme from this variable instead of looking in $ZSH/themes/
+# If set to an empty array, this variable will have no effect.
+# ZSH_THEME_RANDOM_CANDIDATES=( "robbyrussell" "agnoster" )
+
+# Uncomment the following line to use case-sensitive completion.
+# CASE_SENSITIVE="true"
+
+# Uncomment the following line to use hyphen-insensitive completion.
+# Case-sensitive completion must be off. _ and - will be interchangeable.
+# HYPHEN_INSENSITIVE="true"
+
+# Uncomment one of the following lines to change the auto-update behavior
+# zstyle ':omz:update' mode disabled  # disable automatic updates
+# zstyle ':omz:update' mode auto      # update automatically without asking
+# zstyle ':omz:update' mode reminder  # just remind me to update when it's time
+
+# Uncomment the following line to change how often to auto-update (in days).
+# zstyle ':omz:update' frequency 13
+
+# Uncomment the following line if pasting URLs and other text is messed up.
+# DISABLE_MAGIC_FUNCTIONS="true"
+
+# Uncomment the following line to disable colors in ls.
+# DISABLE_LS_COLORS="true"
+
+# Uncomment the following line to disable auto-setting terminal title.
+# DISABLE_AUTO_TITLE="true"
+
+# Uncomment the following line to enable command auto-correction.
+# ENABLE_CORRECTION="true"
+
+# Uncomment the following line to display red dots whilst waiting for completion.
+# You can also set it to another string to have that shown instead of the default red dots.
+# e.g. COMPLETION_WAITING_DOTS="%F{yellow}waiting...%f"
+# Caution: this setting can cause issues with multiline prompts in zsh < 5.7.1 (see #5765)
+# COMPLETION_WAITING_DOTS="true"
+
+# Uncomment the following line if you want to disable marking untracked files
+# under VCS as dirty. This makes repository status check for large repositories
+# much, much faster.
+# DISABLE_UNTRACKED_FILES_DIRTY="true"
+
+# Uncomment the following line if you want to change the command execution time
+# stamp shown in the history command output.
+# You can set one of the optional three formats:
+# "mm/dd/yyyy"|"dd.mm.yyyy"|"yyyy-mm-dd"
+# or set a custom format using the strftime function format specifications,
+# see 'man strftime' for details.
+# HIST_STAMPS="mm/dd/yyyy"
+
+# Would you like to use another custom folder than $ZSH/custom?
+# ZSH_CUSTOM=/path/to/new-custom-folder
+
+# Which plugins would you like to load?
+# Standard plugins can be found in $ZSH/plugins/
+# Custom plugins may be added to $ZSH_CUSTOM/plugins/
+# Example format: plugins=(rails git textmate ruby lighthouse)
+# Add wisely, as too many plugins slow down shell startup.
+plugins=(git docker docker-compose)
+
+source $ZSH/oh-my-zsh.sh
+
+# User configuration
+
+# export MANPATH="/usr/local/man:$MANPATH"
+
+# You may need to manually set your language environment
+# export LANG=en_US.UTF-8
+
+# Preferred editor for local and remote sessions
+# if [[ -n $SSH_CONNECTION ]]; then
+#   export EDITOR='vim'
+# else
+#   export EDITOR='nvim'
+# fi
+
+# Compilation flags
+# export ARCHFLAGS="-arch $(uname -m)"
+
+# Set personal aliases, overriding those provided by Oh My Zsh libs,
+# plugins, and themes. Aliases can be placed here, though Oh My Zsh
+# users are encouraged to define aliases within a top-level file in
+# the $ZSH_CUSTOM folder, with .zsh extension. Examples:
+# - $ZSH_CUSTOM/aliases.zsh
+# - $ZSH_CUSTOM/macos.zsh
+# For a full list of active aliases, run `alias`.
+#
+# Example aliases
+# alias zshconfig="mate ~/.zshrc"
+# alias ohmyzsh="mate ~/.oh-my-zsh"
+
+# Whether inside the container
+if [ ! -f /.dockerenv ]; then
+    echo -e "\n\e[33mNOTE:\e[0m Not RUNING inside a container"
+    # echo "Add your scripts here..."
+
+else
+    echo -e "\n\e[33mNOTE:\e[0m RUNNING inside a container"
+    echo -e "\nTesting \e[33mSSH\e[0m forwarding" && ssh -T [email protected]
+    echo -e "\nWORKSPACE \e[92m${WORKSPACE_PATH}\e[0m branch: \e[92m$(git -C ${WORKSPACE_PATH} branch --show-current )\e[0m commit: \e[92m$(git -C ${WORKSPACE_PATH} rev-parse --short HEAD)\e[0m"
+    # ROS version detection
+    if [ -d "/opt/ros/noetic" ]; then
+        echo -e "\nSource \e[92mROS Noetic\e[0m configuration" && source /opt/ros/noetic/setup.zsh
+    elif [ -d "/opt/ros/humble" ]; then
+        echo -e "\nSource \e[92mROS Humble\e[0m configuration" && source /opt/ros/humble/setup.zsh
+    else
+        echo -e "\n\e[33mNeither ROS Noetic Nor Humble detected\e[0m"
+    fi
+fi
+

ros-docker-dev/enterpoint.sh

@@ -0,0 +1,90 @@
+#! /usr/bin/env bash
+
+set -o errexit
+set -o nounset
+
+source ./env.sh
+
+# build image if not
+if ! docker inspect "${IMAGE_TAG}" --type=image &> /dev/null; then
+    echo -e "\e[33mIMAGE ${IMAGE_TAG} not existing, start building IMAGE ${IMAGE_TAG}...\e[0m"
+    docker buildx bake -f panda-bake.hcl
+    echo -e "\e[33mImage Built Sucessfully\e[0m"
+else
+    echo -e "\e[33mIMAGE ${IMAGE_TAG} already existing...\e[0m"
+fi
+
+# GUI applications
+xhost +local:docker > /dev/null
+
+# Arguments to run container
+args=(
+    --rm    # autoremove the container
+    --name "${CONTAINER_NAME}"
+
+    # Interactivity
+    --interactive
+    --tty
+
+    # host network
+    --network=host
+
+    # hostname and localhost
+    --hostname="${CONTAINER_NAME}"
+    --add-host="${CONTAINER_NAME}":"127.0.0.1"        # Add localhost address manually
+
+    # GUI applications
+    --ipc=host
+    --volume="/tmp/.X11-unix:/tmp/.X11-unix:ro"
+    --volume="/dev/dri:/dev/dri:ro"
+
+    # User spoofing
+    --group-add="sudo"
+    --user="${USER_ID}:${GROUP_ID}"      # Align with Dockerfile
+    --volume="/etc/group:/etc/group:ro"
+    --volume="/etc/passwd:/etc/passwd:ro"
+    --volume="/etc/shadow:/etc/shadow:ro"
+    ## SSH forwarding based on user spoofing, test ssh with
+    ## ssh -T [email protected]
+    --volume="$(dirname ${SSH_AUTH_SOCK}):$(dirname ${SSH_AUTH_SOCK}):ro"
+    --env "SSH_AUTH_SOCK=${SSH_AUTH_SOCK}"
+	--volume="$HOME/.gitconfig:/home/${USERNAME}/.gitconfig:ro"
+
+    # PID exposure
+
+    # Realtime Kernel, if you are in RTkernel, uncomment the followings
+    --privileged
+    --cap-add=SYS_NICE
+
+    # Workspace
+    --volume="$(dirname ${ENTERPOINT_DIR}):${WORKSPACE_PATH}"   # Volume the parent of this docker repo to workspace
+    --workdir "${WORKSPACE_PATH}"                               # cd the volumed workspace
+    --env "WORKSPACE_PATH=${WORKSPACE_PATH}"
+
+    # start image
+    "${IMAGE_TAG}"
+    "/usr/bin/zsh"
+)
+
+# Create container if not
+if [ -z "$(docker ps -a -q -f name=${CONTAINER_NAME})" ]; then
+    echo -e "\e[32mCONTAINER ${CONTAINER_NAME} not existing. Create and run the container\e[0m"
+    docker run "${args[@]}"
+else
+    # Start the stopped container
+    if [ -z "$(docker ps -q -f name=${CONTAINER_NAME})" ]; then
+        echo -e "\e[32mCONTAINER ${CONTAINER_NAME} existing but stopped. Start and run the container\e[0m"
+        docker start ${CONTAINER_NAME}
+        docker exec --interactive --tty \
+                    --user="${USER_ID}:${GROUP_ID}" \
+                    --workdir "/home/${USERNAME}/" \
+                    "${CONTAINER_NAME}" "${SHELL}"
+    # Enter to a runnning container
+    else
+        echo -e "\e[32mCONTAINER ${CONTAINER_NAME} existing and running. Enter the container with a new section\e[0m"
+        docker exec --interactive --tty \
+                    --user="${USER_ID}:${GROUP_ID}" \
+                    --workdir "/home/${USERNAME}/" \
+                    "${CONTAINER_NAME}" "${SHELL}"
+    fi
+fi

ros-docker-dev/env.sh

@@ -0,0 +1,25 @@
+#! /usr/bin/env bash
+
+# Create a label from git branch or commit hash of the parent directory or latest
+GIT_LABEL="$(git -C .. branch --show-current | tr / -)"
+if [[ -z "$GIT_LABEL" ]]; then
+    GIT_LABEL="$(git -C .. rev-parse --short HEAD)"
+    if [[ -z "$GIT_LABEL" ]]; then
+        GIT_LABEL="latest"
+    fi
+fi
+
+# Image Tag and Container Name
+export IMAGE_TAG="WiscHCI/panda-ros:${GIT_LABEL}"
+export CONTAINER_NAME="ros-panda-noetic"
+
+# User configs
+export USERNAME=$(whoami)
+export USER_ID=$(id -u)
+export GROUP_ID=$(id -g)
+# export DISPLAY=${DISPLAY}
+
+# Volume Settings
+ENTERPOINT_DIR="$(dirname $(realpath "$0"))"    # Get enterpoints's absolute directory path
+export HOME_PATH="/home/${USERNAME}"
+export WORKSPACE_PATH="${HOME_PATH}/workspace"