Merge pull request #70 from hollydinkel/master

Add docker files

docker/Dockerfile.noetic

@@ -0,0 +1,59 @@
+FROM ros:noetic-robot
+
+# Copyright (c) 2023, UNIVERSITY OF ILLINOIS URBANA-CHAMPAIGN. All rights reserved.
+
+# To build:
+# docker build -t rmdlo-trackdlo:noetic -f Dockerfile.noetic ..
+
+ENV HOME /root
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Install system and development components
+RUN apt-get update && apt-get -y --no-install-recommends install \
+    apt-utils \
+    software-properties-common \
+    build-essential \
+    cmake \
+    git \
+    python3-pip \
+    python3-catkin-tools \
+    libeigen3-dev \
+    libpcl-dev \
+    libopencv-dev \
+    python3-opencv \
+    && apt-get -y autoremove \
+    && apt-get clean
+
+# Install required ROS components
+RUN apt-get update && apt-get -y --no-install-recommends install \
+  ros-noetic-catkin \
+  ros-noetic-cv-bridge \
+  ros-noetic-pcl-conversions \
+  ros-noetic-pcl-ros \
+  ros-noetic-geometry-msgs \
+  ros-noetic-message-filters \
+  ros-noetic-rospy \
+  ros-noetic-sensor-msgs \
+  ros-noetic-std-msgs \
+  ros-noetic-tf \
+  ros-noetic-vision-msgs \
+  ros-noetic-visualization-msgs \
+  ros-noetic-rviz \
+  && apt-get -y autoremove \
+  && apt-get clean
+
+# Install required Python components
+COPY docker/requirements.txt ${HOME}
+RUN python3 -m pip install -r ${HOME}/requirements.txt
+
+# Set up a catkin workspace
+ENV CATKIN_WS ${HOME}/tracking_ws
+COPY . ${CATKIN_WS}/src/trackdlo
+COPY docker/init_workspace.sh ${HOME}
+RUN ${CATKIN_WS}/src/trackdlo/docker/init_workspace.sh
+RUN echo "source ${CATKIN_WS}/devel/setup.bash" >> ${HOME}/.bashrc
+
+ENV DISPLAY :0
+ENV TERM=xterm
+# Some QT-Apps do not show controls without this
+ENV QT_X11_NO_MITSHM 1

docker/init_workspace.sh

@@ -0,0 +1,15 @@
+#!/bin/bash
+
+# Copyright (c) 2023, UNIVERSITY OF ILLINOIS URBANA-CHAMPAIGN. All rights reserved.
+
+# Stop in case of any error.
+set -e
+
+source /opt/ros/noetic/setup.bash
+
+# Create catkin workspace.
+mkdir -p ${CATKIN_WS}/src
+cd ${CATKIN_WS}/src
+catkin init
+cd ..
+catkin build

docker/requirements.txt

@@ -0,0 +1,6 @@
+numpy==1.17.4
+scipy==1.5.2
+opencv_python==4.4.0.44
+Pillow==8.1.1
+rosnumpy==0.0.5.2
+scikit-image==0.21.0

docker/run_docker.sh

@@ -0,0 +1,42 @@
+#!/bin/bash
+
+# Copyright (c) 2023, UNIVERSITY OF ILLINOIS URBANA-CHAMPAIGN. All rights reserved.
+
+CONTAINER_NAME=$1
+if [[ -z "${CONTAINER_NAME}" ]]; then
+    CONTAINER_NAME=trackdlo
+fi
+
+# Specify a mapping between a host directory and a directory in the
+# docker container. Change this to access a different directory.
+HOST_DIR=$2
+if [[ -z "${HOST_DIR}" ]]; then
+    HOST_DIR=`realpath ${PWD}/..`
+fi
+
+CONTAINER_DIR=$3
+if [[ -z "${CONTAINER_DIR}" ]]; then
+    CONTAINER_DIR=/root/tracking_ws/src/trackdlo
+fi
+
+echo "Container name     : ${CONTAINER_NAME}"
+echo "Host directory     : ${HOST_DIR}"
+echo "Container directory: ${CONTAINER_DIR}"
+TRACK_ID=`docker ps -aqf "name=^/${CONTAINER_NAME}$"`
+if [ -z "${TRACK_ID}" ]; then
+    echo "Creating new trackdlo docker container."
+    xhost +local:root
+    docker run  -it --privileged --network=host -v ${HOST_DIR}:${CONTAINER_DIR}:rw -v /tmp/.X11-unix:/tmp/.X11-unix:rw --env="DISPLAY" --name=${CONTAINER_NAME} rmdlo-trackdlo:noetic bash
+else
+    echo "Found trackdlo docker container: ${TRACK_ID}."
+    # Check if the container is already running and start if necessary.
+    if [ -z `docker ps -qf "name=^/${CONTAINER_NAME}$"` ]; then
+        xhost +local:${TRACK_ID}
+        echo "Starting and attaching to ${CONTAINER_NAME} container..."
+        docker start ${TRACK_ID}
+        docker attach ${TRACK_ID}
+    else
+        echo "Found running ${CONTAINER_NAME} container, attaching bash..."
+        docker exec -it ${TRACK_ID} bash
+    fi
+fi

docs/DOCKER.md

@@ -0,0 +1,37 @@
+## TrackDLO with Docker
+
+TrackDLO can be tested inside of a [Docker](https://www.docker.com/) container to isolate all software and dependency changes from the host system. This document describes how to create and run a Docker image that contains a complete ROS and system environment for TrackDLO.
+
+The current configuration was tested on an x86 host computer running Ubuntu 20.04 with Docker 24.0.1.
+
+### Steps
+
+1. **Download TrackDLO**
+   ```bash
+   $ git clone https://github.com/RMDLO/trackdlo.git trackdlo
+   ```
+
+2. **Build the Docker Image**
+   ```bash
+   $ cd trackdlo/docker
+   $ docker build -t nvidia-dope:noetic-v1 -f Dockerfile.noetic ..
+   ```
+   This will take several minutes and requires an internet connection.
+
+3. **Plug in your camera**
+   Docker will not recognize a USB device that is plugged in after the container is started.
+
+4. **Run the container**
+   ```
+   $ ./run_dope_docker.sh [name] [host dir] [container dir]
+   ```
+   Parameters:
+   - `name` is an optional field that specifies the name of this image. By default, it is `nvidia-dope-v2`.  By using different names, you can create multiple containers from the same image.
+   - `host dir` and `container dir` are a pair of optional fields that allow you to specify a mapping between a directory on your host machine and a location inside the container.  This is useful for sharing code and data between the two systems.  By default, it maps the directory containing dope to `/root/catkin_ws/src/dope` in the container.
+
+      Only the first invocation of this script with a given name will create a container. Subsequent executions will attach to the running container allowing you -- in effect -- to have multiple terminal sessions into a single container.
+
+5. **Build DOPE**
+   Return to step 7 of the [installation instructions](../readme.md) (downloading the weights).
+
+   *Note:* Since the Docker container binds directly to the host's network, it will see `roscore` even if running outside the docker container.

docs/RUN.md

@@ -14,6 +14,7 @@ Installation and execution of TrackDLO was verified with the below dependencies.
 * [SciPy](https://scipy.org/install/) (Our version: 1.23.3)
 * [scikit-image](https://scikit-image.org/) (Our version: 0.18.0)
 * [Pillow](https://pillow.readthedocs.io/en/stable/installation.html) (Our version: 9.2.0)
+* [ROS Numpy](https://pypi.org/project/rosnumpy/) (Our version: 0.0.5)
 
 ## Other Requirements