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Update docker compose for GPU #73

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merged 2 commits into from
Jan 8, 2025
Merged

Update docker compose for GPU #73

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8d23059
works on my machine
MikeWrock Jan 1, 2025
af67e54
Reverting #42
MikeWrock Jan 6, 2025
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17 changes: 1 addition & 16 deletions Dockerfile
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Original file line number Diff line number Diff line change
Expand Up @@ -10,14 +10,13 @@ ARG MOVEIT_STUDIO_BASE_IMAGE
ARG USERNAME=studio-user
ARG USER_UID=1000
ARG USER_GID=1000
ARG BASE=base

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

# Create a non-root user
ARG USERNAME
Expand Down Expand Up @@ -50,20 +49,6 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
/home/${USERNAME}/.ros && \
chown -R $USER_UID:$USER_GID /home/${USERNAME} /opt/overlay_ws/

FROM base-base AS base-nvidia
ARG NVIDIA_DRIVER_PACKAGE
ENV DEBIAN_FRONTEND=noninteractive
# hadolint ignore=DL3008
RUN apt-get update && apt-get install -y --no-install-recommends software-properties-common
# hadolint ignore=DL3008
RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
--mount=type=cache,target=/var/lib/apt,sharing=locked \
add-apt-repository ppa:graphics-drivers/ppa && \
apt-get update && apt-get upgrade -y && apt-get install -y --no-install-recommends "${NVIDIA_DRIVER_PACKAGE}"

ARG BASE
# hadolint ignore=DL3006
FROM base-${BASE} AS base
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@dsobek this is probably why @nbbrooks had docker build issues

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Yeah that seems likely.

# 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.
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20 changes: 9 additions & 11 deletions docker-compose.yaml
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Expand Up @@ -6,20 +6,18 @@
services:
# The base image that all MoveIt Pro services extend off of. Builds the user workspace.
base:
build:
# List any arguments for building the user workspace here.
args:
# IMPORTANT: Optionally install Nvidia drivers for improved simulator performance with Nvidia GPUs.
# To do this you must
# 1. Uncomment the BASE and NVIDIA_DRIVER_PACKAGE build args below
# 2. Replace the 'nvidia-driver-555' apt package with the Nvidia driver version on your host, e.g. nvidia-driver-535, nvidia-driver-555. Use nvidia-smi on your host to determine the driver version.
# After rebuilding via `moveit_pro build` verify the drivers are active in your container by running `nvidia_smi` inside of `moveit_pro shell`.
# - BASE=nvidia
# - NVIDIA_DRIVER_PACKAGE=nvidia-driver-555

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

# IMPORTANT: Enable Nvidia GPUs by uncommenting the lines below:
# deploy:
# resources:
# reservations:
# devices:
# - driver: nvidia
# count: 1
# capabilities: [gpu]

# Starts the robot drivers.
drivers:

Expand Down
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