MailaSim_docker

A repo containing a docker image for maila simulations

Docker - Development Environment

To ensure a common, consistent development environment we develop a docker image to run all the packages required from the Maila project.

Content

This Docker Image contains the following:

• Ubuntu Focal Fossa 20.04
• ROS2 Foxy Fitzroy
• ...

Installation

To get started, follow these steps:

1 Install docker

Install and configure Docker for your operating system.

Windows

1. Install Docker Desktop for Windows/Mac.

2. Right-click on the Docker task bar item, select Settings/Preferences and update Resources > File Sharing with any locations your source code is kept. See tips and tricks for troubleshooting.

3. If you are using WSL 2 on Windows, to enable the Windows WSL 2 back-end: Right-click on the Docker taskbar item and select Settings. Check Use the WSL 2 based engine and verify your distribution is enabled under Resources > WSL Integration.

Linux

1. Follow the official install instructions for Docker CE/EE for your distribution. If you are using Docker Compose, follow the Docker Compose directions as well.

2. Add your user to the docker group by using a terminal to run: sudo usermod -aG docker $USER

sudo groupadd docker
sudo usermod -aG docker $USER

3. Sign out and back in again so your changes take effect.

2 Install Visaul Studio code

1 - Install Visual Studio Code or Visual Studio Code Insiders.

2 - Install the Remote Development extension pack.

Settings (recommended)

Complete the following steps to create a new container:

1. Clone or Download the Github Repository to your local Machine

   git clone https://github.com/Mailamaca/Maila_docker.git

2. Customize some settings to reflect your needs (optional) You can change some Environment Variables directly in the Dockerfile:

3. Build the Docker Image

   cd /path/to/MailaSim_docker
   docker build -t <your-docker-image-name> .
   # e.g
   cd MailaSim_docker
   docker build -t maila-sim-image .

   Note: Please be sure to have enough disk space left. Building this image needs around 2GB of free space. The successfully built image has a size of 2GB

4. Run (create+start) Docker Container

   • --rm Automatically remove the container when it exits
   • -it sets it as interactable and using stdin and stdout
   • --name sets the name of the container
   • --h sets the hostname of the container
   • --mount mount a volume, src=host/path, dst=container/path
   • -v /tmp/.X11-unix:/tmp/.X11-unix sets a volume to share the x server
   • --env DISPLAY=$DISPLAY sets an environment var for GUI
   • -p sets a port forwarding (for SSH e.g)

   Start as root:

   docker run --rm -it \
       --name maila-container -h maila \
       --user 0 \
       --mount type=bind,src="$PWD"/../,dst=/mailamaca \
       -v /tmp/.X11-unix:/tmp/.X11-unix \
       --env DISPLAY=$DISPLAY \
       -p 2222:22 \
       maila-sim-image

   need fuse for appimage (https://stackoverflow.com/questions/48402218/fuse-inside-docker)

   Start as user:

   docker run --rm -it \
       --name maila-sim-container2 -h maila \
       --user "$(id -u):$(id -g)" \
       --mount type=bind,src="$PWD"/../Maila,dst=/home/snail/Workspace/Maila \
       -v /tmp/.X11-unix:/tmp/.X11-unix \
       --env DISPLAY=$DISPLAY \
       -p 2222:22 \
       --device /dev/fuse \
       --cap-add SYS_ADMIN \
       --security-opt apparmor:unconfined \
       maila-sim-image2

   docker run --rm -it --privileged \
       --name maila-sim-container2 -h maila \
       --user 0 \
       --mount type=bind,src="$PWD"/../,dst=/mailamaca \
       -v /tmp/.X11-unix:/tmp/.X11-unix \
       --env DISPLAY=$DISPLAY \
       maila-sim-image2
       

5. run unityhub and unity inside container

   ./UnityHub.AppImage

   manual activation -> NEXT

   load file: mailamaca/Unity_v2017.x.ulf

   close

   unity3d

   NOTE

   https://download.unity3d.com/download_unity/60781d942082/LinuxEditorInstaller/Unity.tar.xz

   https://gitlab.com/gableroux/unity3d#build-the-image

   sudo apt update && sudo apt install -y libgtk2.0-0 libsoup2.4-1 libarchive13 libpng16-16 libgconf-2-4 lib32stdc++6 libcanberra-gtk-module
   
   sudo apt update && sudo apt install -y libfuse2 libnss3 libasound2
   mkdir Download
   wget https://public-cdn.cloud.unity3d.com/hub/prod/UnityHub.AppImage
   sudo chmod +x UnityHub.AppImage
   sudo ./UnityHub.AppImage --appimage-extract-and-run --no-sandbox

   sudo apt update && sudo apt install -y libgtk2.0-0 libsoup2.4-1 libarchive13 libpng16-16 libgconf-2-4 lib32stdc++6 libcanberra-gtk-module libglu1 libcanberra-gtk3-module
   sudo apt update && sudo apt install -y libglu1 libcanberra-gtk3-module
   mkdir Download
   wget https://beta.unity3d.com/download/dad990bf2728/UnitySetup-2018.2.7f1
   chmod +x UnitySetup-2018.2.7f1
   ./UnitySetup-2018.2.7f1

   # unity link:
   # https://gitlab.com/gableroux/unity3d/-/blob/master/ci-generator/unity_versions.old.yml
   
   RUN wget https://beta.unity3d.com/download/60781d942082/UnitySetup-2019.4.8f1 && \
   chmod +x UnitySetup-2019.4.8f1 && \
   echo y | sudo ./UnitySetup-2019.4.8f1 --unattended --install-location=/opt/Unity-2019.4.8f1 --verbose --download-location=/tmp/unity --components=Unity && \
   rm UnitySetup-2019.4.8f1 && \
   mkdir -p $HOME/.local/share/unity3d/Certificates/ && \
   sudo ln -s /opt/Unity-2019.4.8f1/Editor/Unity /usr/bin/unity3d
   
   # symlink
   # sudo ln -s /opt/Unity-2019.4.8f1/Editor/Editor/Unity /usr/bin/unity3d
   
   #to run sudo gui application on the host terminal:
   xhost +local:docker
   
   sudo chown snail:snail -R ~/.config/
   /home/snail/UnityHub.AppImage --headless install --version 2019.4.9f1 --module standardassets
   
   sudo apt install flatpak
   sudo flatpak remote-add --if-not-exists flathub https://flathub.org/repo/flathub.flatpakrepo
   sudo flatpak install flathub com.unity.UnityHub
   flatpak run com.unity.UnityHub
   
   
   # python 3.6 (https://askubuntu.com/questions/1106603/how-to-co-install-libpython3-5-with-libpython3-6-and-libpython3-7) 
   
   
   #.net (https://docs.microsoft.com/en-us/dotnet/core/install/linux-ubuntu)
   #ros2dotnet (https://github.com/ros2-dotnet/ros2_dotnet)
   
   RUN wget http://beta.unity3d.com/download/7807bc63c3ab/UnitySetup-2017.3.0p2 -O UnitySetup && \
   # make executable
   chmod +x UnitySetup-2020.1.2f1 && \
   # agree with license
   echo y | \
   # install unity with required components
   ./UnitySetup-2020.1.2f1 --unattended --install-location=/opt/Unity/Editor --verbose --download-location=/tmp/unity --components=Unity  && \
   # remove setup
   rm UnitySetup && \
   # make a directory for the certificate Unity needs to run
   mkdir -p $HOME/.local/share/unity3d/Certificates/
   
   # /opt/Unity/Editor/Unity
   # sudo ln -s /opt/Unity/Editor/Unity /usr/bin/unity3d

   this will be the main terminal windows, when this closes the container colses and all things made in it will be lost!

6. Open a new terminal connected to the container (AS USER)

   docker exec -it maila-sim-container2 bash

7. Open a new terminal connected to the container (AS ROOT)

   docker exec -u 0 -it maila-sim-container bash

Visual Studio Code Remote extension

1. Install ms-vscode-remote.remote-containers

2. In the VSC console (F1) type "Remote-Containers: Open Folder in COntainer..." or click in the green square in the left-bottom part of VSC and select "Remote-Containers: Open Folder in COntainer..."

3. Select Maila_docker folder

4. Done! It will open the up-folder of Maila_docker inside the container

NOTE: the .devcontainer.json file contains all the information, it is quite the same as docker run

SSH

1. With the container started open a new terminal connected to the container (AS ROOT)

   docker exec -u 0 -it maila-container /usr/sbin/sshd -d

2. Access the Docker Container via SSH (in another host terminal):

   ssh root@localhost -p 2222

   User	Password
   root	root

3. if HOST IDENTIIFATION HAS CHANGED try this command

    ssh-keygen -f "/home/ubuntu/.ssh/known_hosts" -R "[localhost]:2222"

   then re-launch the ssh service in the previuous terminal and then re-try to login

Docker useful commands

Remove container

1. Get all containers

   docker ps -a

2. Delete ones

   docker rm maila

Remove docker image

1. Get all images

   docker images

2. Delete ones

   docker rmi 27aba35ee129

3. Delete dangling images (https://www.projectatomic.io/blog/2015/07/what-are-docker-none-none-images/)

   docker rmi $(docker images -f "dangling=true" -q)

Start/Stop of Docker Container

```bash
docker start -ia <your-docker-container-name>
docker stop <your-docker-container-name>
# e.g
docker start -ia maila-container
docker stop maila-container
```

Backup container state (NOT THE DATA VOLUME)

1. Create a backup of the container to an image.

   docker commit -p maila maila/backup:20200720

   Kindly note that this will not cover the data volume. You need to take the backup of data-volume (if any) separately. To know this data-directory (data volume location) of a container, use the command docker inspect container-name. You will get a section called “Mounts”. Location mentioned in “Source” is the data volume. You may directly backup this folder(here /site) to get backup of data volume.

2. Save image as a tar file

   docker save -o maila_backup_20200720.tar maila/backup:20200720

Restore container backup (NOT THE DATA VOLUME)

1. Image can be extracted from backup tar file using the following command

   docker load -i /tmp/backup01.tar

2. You can create container from this image using “docker create“. If you had data volume on the original container. You must restore the data volume too and run container with the data volume (docker create -v)

Check the version of Docker installed on your machine

$ docker --version--all

Download and start a session with ROS2 foxy docker container

$ docker run -it ros:foxy --all

List of the images downloaded to your machine

$ docker image ls --all

REPOSITORY          TAG                 IMAGE ID            CREATED             SIZE
ros                 foxy                4273086f549d        13 days ago         722MB

run a docker image

$ docker run --all

List all containers (spawned by the image) that exit after displaying its message.

If it is still running, you do not need the --all option

$ docker ps --all --all

CONTAINER ID        IMAGE               COMMAND                  CREATED             STATUS                     PORTS               NAMES
9867db35d3fe        4273086f549d        "/ros_entrypoint.sh …"   8 minutes ago       Exited (0) 8 minutes ago                       priceless_goldberg
42f7c2645a99        ros:foxy            "/ros_entrypoint.sh …"   16 minutes ago      Up 15 minutes                                  competent_feynman

ROS2 turtlesim example

source /opt/ros/foxy/setup.bash
printenv | grep -i ROS
apt update
apt install ros-foxy-turtlesim
ros2 pkg executables turtlesim
ros2 run turtlesim turtlesim_node
ros2 run turtlesim turtle_teleop_key

Credits

This Dockerfile is based on the following work:

• Daniel Hochleitner's GitHub Project Dani3lSun/docker-db-apex-dev

• https://tuw-cpsg.github.io/tutorials/docker-ros/

License

MIT

See Oracle Database Licensing Information User Manual regarding Oracle Database licenses.