ign_moveit2_example.log

ign_moveit2_examples on  master via △ v3.22.1 ❯ docker build . -t ign_moveit2
Sending build context to Docker daemon  99.84kB
Step 1/17 : ARG ROS_DISTRO=galactic
Step 2/17 : FROM ros:${ROS_DISTRO}-ros-base
 ---> 9da8c152231c
Step 3/17 : SHELL ["/bin/bash", "-c"]
 ---> Using cache
 ---> fce46bacab6b
Step 4/17 : ARG WS_DIR=/root/ws
 ---> Using cache
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Step 5/17 : ENV WS_DIR=${WS_DIR}
 ---> Using cache
 ---> 5665fecb8740
Step 6/17 : ENV WS_SRC_DIR=${WS_DIR}/src
 ---> Using cache
 ---> 31c21aff44f3
Step 7/17 : ENV WS_INSTALL_DIR=${WS_DIR}/install
 ---> Using cache
 ---> 0df39742144b
Step 8/17 : ENV WS_LOG_DIR=${WS_DIR}/log
 ---> Using cache
 ---> e16409852ab1
Step 9/17 : WORKDIR ${WS_DIR}
 ---> Using cache
 ---> b357def62a16
Step 10/17 : ARG IGNITION_VERSION=fortress
 ---> Using cache
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Step 11/17 : ENV IGNITION_VERSION=${IGNITION_VERSION}
 ---> Using cache
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Step 12/17 : RUN apt-get update &&     apt-get install -yq --no-install-recommends     ignition-${IGNITION_VERSION} &&     rm -rf /var/lib/apt/lists/*
 ---> Using cache
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Step 13/17 : COPY ./ign_moveit2_examples.repos ${WS_SRC_DIR}/ign_moveit2_examples/ign_moveit2_examples.repos
 ---> Using cache
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Step 14/17 : RUN vcs import --shallow ${WS_SRC_DIR} < ${WS_SRC_DIR}/ign_moveit2_examples/ign_moveit2_examples.repos &&     rosdep update &&     apt-get update &&     rosdep install -y -r -i --rosdistro "${ROS_DISTRO}" --from-paths ${WS_SRC_DIR} &&     rm -rf /var/lib/apt/lists/* &&     source "/opt/ros/${ROS_DISTRO}/setup.bash" &&     colcon build --merge-install --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=Release" &&     rm -rf ${WS_LOG_DIR}
 ---> Using cache
 ---> 401cb5906044
Step 15/17 : COPY ./ ${WS_SRC_DIR}/ign_moveit2_examples/
 ---> Using cache
 ---> 3ca63b29994f
Step 16/17 : RUN rosdep update &&     apt-get update &&     rosdep install -y -r -i --rosdistro "${ROS_DISTRO}" --from-paths ${WS_SRC_DIR} &&     rm -rf /var/lib/apt/lists/* &&     source "/opt/ros/${ROS_DISTRO}/setup.bash" &&     colcon build --merge-install --symlink-install --cmake-args "-DCMAKE_BUILD_TYPE=Release" &&     rm -rf ${WS_LOG_DIR}
 ---> Using cache
 ---> e107d61084a1
Step 17/17 : RUN sed -i '$i source "${WS_INSTALL_DIR}/local_setup.bash" --' /ros_entrypoint.sh &&     sed -i '$a source "/opt/ros/${ROS_DISTRO}/setup.bash"' ~/.bashrc
 ---> Using cache
 ---> b5d9be4bcbfc
Successfully built b5d9be4bcbfc
Successfully tagged ign_moveit2:latest


❯ rocker --nvidia --x11 ign_moveit2
Extension volume doesn't support default arguments. Please extend it.
Active extensions ['nvidia', 'x11']
Step 1/12 : FROM python:3-slim-stretch as detector
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Step 2/12 : RUN mkdir -p /tmp/distrovenv
 ---> Using cache
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Step 3/12 : RUN python3 -m venv /tmp/distrovenv
 ---> Using cache
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Step 4/12 : RUN apt-get update && apt-get install -qy patchelf binutils
 ---> Using cache
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Step 5/12 : RUN . /tmp/distrovenv/bin/activate && pip install distro pyinstaller==4.0 staticx==0.12.3
 ---> Using cache
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Step 6/12 : RUN echo 'import distro; import sys; output = (distro.name(), distro.version(), distro.codename()); print(output) if distro.name() else sys.exit(1)' > /tmp/distrovenv/detect_os.py
 ---> Using cache
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Step 7/12 : RUN . /tmp/distrovenv/bin/activate && pyinstaller --onefile /tmp/distrovenv/detect_os.py
 ---> Using cache
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Step 8/12 : RUN . /tmp/distrovenv/bin/activate && staticx /dist/detect_os /dist/detect_os_static && chmod go+xr /dist/detect_os_static
 ---> Using cache
 ---> d893d0cd4503
Step 9/12 : FROM ign_moveit2
 ---> b5d9be4bcbfc
Step 10/12 : COPY --from=detector /dist/detect_os_static /tmp/detect_os
 ---> 0d950aae155d
Step 11/12 : ENTRYPOINT [ "/tmp/detect_os" ]
 ---> Running in 3549d95b25d2
Removing intermediate container 3549d95b25d2
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Step 12/12 : CMD [ "" ]
 ---> Running in ab46095d8bbe
Removing intermediate container ab46095d8bbe
 ---> 4e057c6f45e1
Successfully built 4e057c6f45e1
Successfully tagged rocker:os_detect_ign_moveit2
running,  docker run -it --rm 4e057c6f45e1
output:  ('Ubuntu', '20.04', 'focal')

Writing dockerfile to /tmp/tmpdp9wemmn/Dockerfile
vvvvvv
# Preamble from extension [nvidia]
# Ubuntu 16.04 with nvidia-docker2 beta opengl support
FROM nvidia/opengl:1.0-glvnd-devel-ubuntu18.04 as glvnd

# Preamble from extension [x11]


FROM ign_moveit2
USER root
# Snippet from extension [nvidia]
RUN apt-get update && apt-get install -y --no-install-recommends \
    libglvnd0 \
    libgl1 \
    libglx0 \
    libegl1 \
    libgles2 \
    && rm -rf /var/lib/apt/lists/*
COPY --from=glvnd /usr/share/glvnd/egl_vendor.d/10_nvidia.json /usr/share/glvnd/egl_vendor.d/10_nvidia.json




ENV NVIDIA_VISIBLE_DEVICES ${NVIDIA_VISIBLE_DEVICES:-all}
ENV NVIDIA_DRIVER_CAPABILITIES ${NVIDIA_DRIVER_CAPABILITIES:-all}

# Snippet from extension [x11]


^^^^^^
Building docker file with arguments:  {'path': '/tmp/tmpdp9wemmn', 'rm': True, 'nocache': False, 'pull': False}
building > Step 1/7 : FROM nvidia/opengl:1.0-glvnd-devel-ubuntu18.04 as glvnd
building >  ---> 9d806b36b807
building > Step 2/7 : FROM ign_moveit2
building >  ---> b5d9be4bcbfc
building > Step 3/7 : USER root
building >  ---> Using cache
building >  ---> 6a70ac919944
building > Step 4/7 : RUN apt-get update && apt-get install -y --no-install-recommends     libglvnd0     libgl1     libglx0     libegl1     libgles2     && rm -rf /var/lib/apt/lists/*
building >  ---> Using cache
building >  ---> 5af02020b0b7
building > Step 5/7 : COPY --from=glvnd /usr/share/glvnd/egl_vendor.d/10_nvidia.json /usr/share/glvnd/egl_vendor.d/10_nvidia.json
building >  ---> Using cache
building >  ---> 0c780e3a4ce4
building > Step 6/7 : ENV NVIDIA_VISIBLE_DEVICES ${NVIDIA_VISIBLE_DEVICES:-all}
building >  ---> Using cache
building >  ---> 6266f51ca395
building > Step 7/7 : ENV NVIDIA_DRIVER_CAPABILITIES ${NVIDIA_DRIVER_CAPABILITIES:-all}
building >  ---> Using cache
building >  ---> a731d0ef3c71
building > Successfully built a731d0ef3c71
Executing command: 
docker run --rm -it  --gpus all  -e DISPLAY -e TERM   -e QT_X11_NO_MITSHM=1   -e XAUTHORITY=/tmp/.dockersxptsgx6.xauth -v /tmp/.dockersxptsgx6.xauth:/tmp/.dockersxptsgx6.xauth   -v /tmp/.X11-unix:/tmp/.X11-unix   -v /etc/localtime:/etc/localtime:ro  a731d0ef3c71 
root@cbb7b519a64f:~/ws# ls
build  install  src
root@cbb7b519a64f:~/ws# . install/local_setup.bash 
root@cbb7b519a64f:~/ws# ros2 launch ign_moveit2_examples ex_py_throw_object.launch.py
[INFO] [launch]: All log files can be found below /root/.ros/log/2022-12-15-19-55-32-654592-cbb7b519a64f-92
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [ign gazebo-1]: process started with pid [101]
[INFO] [parameter_bridge-2]: process started with pid [103]