mpc_local_planner on Docker

Dockerfile

FROM nvidia/cudagl:10.2-devel-ubuntu18.04

ENV NVIDIA_VISIBLE_DEVICES ${NVIDIA_VISIBLE_DEVICES:-all}
ENV NVIDIA_DRIVER_CAPABILITIES ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics

# add new sudo user
ENV USERNAME mpc
ENV HOME /home/$USERNAME
RUN useradd -m $USERNAME && \
        echo "$USERNAME:$USERNAME" | chpasswd && \
        usermod --shell /bin/bash $USERNAME && \
        usermod -aG sudo $USERNAME && \
        mkdir /etc/sudoers.d && \
        echo "$USERNAME ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers.d/$USERNAME && \
        chmod 0440 /etc/sudoers.d/$USERNAME && \
        # Replace 1000 with your user/group id
        usermod  --uid 1000 $USERNAME && \
        groupmod --gid 1000 $USERNAME

ENV DEBIAN_FRONTEND noninteractive
RUN apt-get update && apt-get install -y --no-install-recommends \
        sudo \
        less \
        emacs \
        tmux \
        bash-completion \
        command-not-found \
        software-properties-common \
        xsel \
        xdg-user-dirs \
        && \
    apt-get clean && \
    rm -rf /var/lib/apt/lists/*

# ROS Melodic
RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
RUN apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
RUN apt-get update && apt-get install -y --no-install-recommends \
        ros-melodic-desktop-full \
        python-rosdep \
        python-rosinstall \
        python-rosinstall-generator \
        python-wstool \
        build-essential \
        && \
    apt-get clean && \
    rm -rf /var/lib/apt/lists/*

# ROS package
RUN apt-get update && apt-get install -y --no-install-recommends \
        ros-melodic-move-base \
        ros-melodic-map-server \
        ros-melodic-amcl \
        ros-melodic-global-planner \
        ros-melodic-costmap-converter \
        ros-melodic-mbf-costmap-core \
        ros-melodic-mbf-msgs \
        ros-melodic-teb-local-planner \
        && \
    apt-get clean && \
    rm -rf /var/lib/apt/lists/*

# package for mpc_local_planner
RUN apt-get update && apt-get install -y --no-install-recommends \
        coinor-libipopt-dev \
        && \
    apt-get clean && \
    rm -rf /var/lib/apt/lists/*

RUN rosdep init

USER $USERNAME
WORKDIR /home/$USERNAME
RUN rosdep update

SHELL ["/bin/bash", "-c"]
RUN git clone https://github.com/rst-tu-dortmund/control_box_rst.git -b 0.0.4 && \
    cd control_box_rst && \
    mkdir build && \
    cd build && \
    cmake -D CMAKE_BUILD_TYPE=Release .. && \
    make -j4 && \
    sudo make install && \
    mkdir -p ~/catkin_ws/src && \
    source /opt/ros/melodic/setup.bash && \
    catkin_init_workspace ~/catkin_ws/src && \
    cd ~/catkin_ws/src && \
    git clone https://github.com/rst-tu-dortmund/mpc_local_planner.git -b 0.0.2 && \
    cd ~/catkin_ws && \
    catkin_make -DCMAKE_BUILD_TYPE=Release && \
    source ~/catkin_ws/devel/setup.bash

RUN echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc && \
    echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc

launch_container.sh

#!/bin/sh

XSOCK=/tmp/.X11-unix
XAUTH=/tmp/.docker.xauth
touch $XAUTH
xauth nlist $DISPLAY | sed -e 's/^..../ffff/' | xauth -f $XAUTH nmerge -

docker run --runtime=nvidia --privileged --rm -it \
           --volume=$XSOCK:$XSOCK:rw \
           --volume=$XAUTH:$XAUTH:rw \
           --volume=$HOME:$HOME \
           --shm-size=1gb \
           --env="XAUTHORITY=${XAUTH}" \
           --env="DISPLAY=${DISPLAY}" \
           --env=TERM=xterm-256color \
           --env=QT_X11_NO_MITSHM=1 \
           --net=host \
           -u "mpc"  \
           mpc:0.0.2 \
           bash

mpc_local_planner on Docker

Introduction

This is a Dockerfile to use mpc_local_planner on Docker container.

Requirements

• NVIDIA graphics driver
• Docker
• nvidia-docker2

Preparation

Build Docker image

$ docker build -t mpc:0.0.2 .

Create Docker container

$ ./launch_container.sh

Usage

Launch mpc_local_planner_examples

Please launch mpc_local_planner_examples and set goal using RViz.

$ roslaunch mpc_local_planner_examples diff_drive_quadratic_form.launch