118/feature/docker ci

.github/workflows/build-docker-images.yml

@@ -1,21 +1,42 @@
 name: build-docker-images
 
 on:
+  workflow_dispatch:
   push:
     branches:
       - 'master'
 
 jobs:
+  prepare:
+    runs-on: ubuntu-latest
+    outputs:
+      targets: ${{ steps.generate.outputs.targets }}
+    steps:
+      -
+        name: Checkout
+        uses: actions/checkout@v4
+      -
+        name: List targets
+        id: generate
+        uses: docker/bake-action/subaction/list-targets@v4
+        with:
+          target: atk
+          files: atk.hcl,atk.yml
   build:
     runs-on: ubuntu-latest
+    needs:
+      - prepare
     strategy:
       fail-fast: false
       matrix:
-        target: [vnc, dev, chrono]
+        target: ${{ fromJson(needs.prepare.outputs.targets) }}
     steps:
       -
         name: Checkout
         uses: actions/checkout@v4
+      -
+        name: Copy atk.env to .env
+        run: cp atk.env .env
       -
         name: Set up QEMU
         uses: docker/setup-qemu-action@v3

atk.hcl

@@ -0,0 +1,20 @@
+// This file is used to define a group of targets to build in a github ci.
+// In the github action, a target is defined (e.g. 'atk') which then converts into a
+// list (as defined by the 'targets' variable) of targets to build.
+//
+// Example:
+// group "atk" {
+//    targets = ["dev", "chrono", "vnc"]
+// }
+
+
+group "atk" {
+   targets = ["dev", "chrono", "vnc"]
+}
+
+target "chrono" {
+   target = "chrono"
+   args = {
+      REMOVE_OPTIX = "true"
+   }
+}

atk.yml

@@ -27,7 +27,6 @@ x-optionals:
 name: art
 services:
   common:
-    env_file: "atk.env"
     build:
       context: "./"
       network: "host"
@@ -42,6 +41,11 @@ services:
     volumes:
       - "./:/home/${COMPOSE_PROJECT_NAME}/${COMPOSE_PROJECT_NAME}"
     tty: true
+    x-bake:
+      platforms:
+        - linux/amd64
+        - linux/arm64
+      no-cache: true
   dev:
     extends: common
     image: "${DOCKERHUB_USERNAME}/${COMPOSE_PROJECT_NAME}:dev"
@@ -56,15 +60,6 @@ services:
         USER_SHELL_ADD_ONS: ". /home/${COMPOSE_PROJECT_NAME}/${COMPOSE_PROJECT_NAME}/workspace/install/setup.bash"
         PIP_REQUIREMENTS: "${DEFAULT_PIP_REQUIREMENTS} tensorrt"
         ROSDEP_METAPACKAGE: "art_dev_meta"
-      x-bake:
-        platforms:
-          - linux/amd64
-          - linux/arm64
-          - darwin/amd64
-          - darwin/arm64
-          - windows/amd64
-          - windows/arm64
-        no-cache: true
     working_dir: "/home/${COMPOSE_PROJECT_NAME}/${COMPOSE_PROJECT_NAME}/workspace"
   agx:
     extends: dev
@@ -76,6 +71,9 @@ services:
         APT_DEPENDENCIES: "${DEFAULT_APT_DEPENDENCIES}"
         PIP_REQUIREMENTS: "${DEFAULT_PIP_REQUIREMENTS}"
         ROSDEP_SKIP_KEYS: "python3-torchvision tf_transformations"
+      x-bake:
+        platforms:
+          - linux/arm64
   art5:
     extends: agx
     image: "${DOCKERHUB_USERNAME}/${COMPOSE_PROJECT_NAME}:art5"
@@ -119,6 +117,11 @@ services:
       network: "host"
       args:
         VNC_PASSWORD: "${COMPOSE_PROJECT_NAME}"
+      x-bake:
+        platforms:
+          - linux/amd64
+          - linux/arm64
+        no-cache: true
     ports:
       - "127.0.0.1:8080-8099:8080"
       - "127.0.0.1:5900-5999:5900"

docker/chrono.dockerfile

@@ -7,7 +7,8 @@ INCLUDE ./docker/common/base.dockerfile
 
 # Snippets
 INCLUDE ./docker/snippets/ros.dockerfile
-INCLUDE ./docker/snippets/chrono.dockerfile
+INCLUDE ./docker/snippets/optix.dockerfile
+INCLUDE ./docker/snippets/chrono-build.dockerfile
 
 # Will copy in other common configurations for this build
 INCLUDE ./docker/common/common.dockerfile

docker/snippets/chrono.dockerfile → docker/snippets/chrono-build.dockerfile

@@ -1,6 +1,5 @@
 # SPDX-License-Identifier: MIT
 # This snippet install Chrono in /opt/chrono
-# NOTE: Requires OPTIX_SCRIPT to be set and for there be a file that exists there
 # NOTE: ROS needs to be installed, as well
 
 # Install Chrono dependencies
@@ -23,14 +22,6 @@ RUN apt-get update && \
         xorg-dev && \
         apt-get clean && apt-get autoremove -y && rm -rf /var/lib/apt/lists/*
 
-# OptiX
-ARG OPTIX_SCRIPT
-COPY ${OPTIX_SCRIPT} /tmp/optix.sh
-RUN chmod +x /tmp/optix.sh && \
-    mkdir /opt/optix && \
-    /tmp/optix.sh --prefix=/opt/optix --skip-license && \
-    rm /tmp/optix.sh
-
 # Vulkan
 RUN wget -qO- https://packages.lunarg.com/lunarg-signing-key-pub.asc | tee /etc/apt/trusted.gpg.d/lunarg.asc && \
     wget -qO /etc/apt/sources.list.d/lunarg-vulkan-jammy.list http://packages.lunarg.com/vulkan/lunarg-vulkan-jammy.list && \
@@ -51,14 +42,14 @@ ARG CHRONO_BRANCH="main"
 ARG CHRONO_REPO="https://github.com/projectchrono/chrono.git"
 ARG CHRONO_DIR="${USERHOME}/chrono"
 ARG CHRONO_INSTALL_DIR="/opt/chrono"
-RUN git clone --recursive -b ${CHRONO_BRANCH} ${CHRONO_REPO} ${CHRONO_DIR} && \
-    . ${ROS_WORKSPACE_DIR}/install/setup.sh && \
-    cd ${CHRONO_DIR}/contrib/build-scripts/vsg/ && \
-    bash buildVSG.sh /opt/vsg && \
-    cd ${CHRONO_DIR}/contrib/build-scripts/urdf/ && \
-    bash buildURDF.sh /opt/urdf && \
-    mkdir ${CHRONO_DIR}/build && \
+RUN git clone --recursive -b ${CHRONO_BRANCH} ${CHRONO_REPO} ${CHRONO_DIR}
+RUN cd ${CHRONO_DIR}/contrib/build-scripts/vsg/ && \
+    sudo bash buildVSG.sh /opt/vsg
+RUN cd ${CHRONO_DIR}/contrib/build-scripts/urdf/ && \
+    sudo bash buildURDF.sh /opt/urdf
+RUN mkdir ${CHRONO_DIR}/build && \
     cd ${CHRONO_DIR}/build && \
+    . ${ROS_WORKSPACE_DIR}/install/setup.sh && \
     cmake ../ -G Ninja \
         -DCMAKE_BUILD_TYPE=Release \
         -DBUILD_DEMOS=OFF \
@@ -90,6 +81,13 @@ RUN git clone --recursive -b ${CHRONO_BRANCH} ${CHRONO_REPO} ${CHRONO_DIR} && \
 # chown the chrono dir so that we can edit it
 RUN chown -R ${USERNAME}:${USERNAME} ${CHRONO_DIR} ${ROS_WORKSPACE_DIR}
 
+# Remove optix
+# Due to licensing, we don't want to include this in the final image
+ARG REMOVE_OPTIX="false"
+RUN if [ "${REMOVE_OPTIX}" = "true" ]; then \
+        rm -rf /opt/optix/*; \
+    fi
+
 # Update shell config
 RUN echo ". ${ROS_WORKSPACE_DIR}/install/setup.sh" >> ${USERSHELLPROFILE} && \
     echo "export PYTHONPATH=\$PYTHONPATH:${CHRONO_INSTALL_DIR}/share/chrono/python" >> ${USERSHELLPROFILE} && \

docker/snippets/optix.dockerfile

@@ -0,0 +1,11 @@
+# SPDX-License-Identifier: MIT
+# This snippet will install OptiX in /opt/optix
+# NOTE: Requires OPTIX_SCRIPT to be set and for there be a file that exists there
+
+# OptiX
+ARG OPTIX_SCRIPT
+COPY ${OPTIX_SCRIPT} /tmp/optix.sh
+RUN chmod +x /tmp/optix.sh && \
+    mkdir /opt/optix && \
+    /tmp/optix.sh --prefix=/opt/optix --skip-license && \
+    rm /tmp/optix.sh

docs/README.md

@@ -58,7 +58,7 @@ WARN[0000] The "DISPLAY" variable is not set. Defaulting to a blank string.
 
 ### Launch the simulation
 
-The first time you start up the chrono service, it will need to build the image. This may take a while.
+The first time you start up the chrono service, it will need to build/pull the image. This may take a while.
 
 ```bash
 $ atk dev -ua -s chrono --optionals gpus vnc
@@ -80,7 +80,7 @@ Initialized ChROSInterface: chrono_ros_node.
 
 ### Build and run the autonomy stack
 
-The first time you start up the dev service, it will need to build the image. This may take a while.
+The first time you start up the dev service, it will need to build/pull the image. This may take a while.
 
 > [!NOTE]
 > The very first time you run `colcon build`, you may need to install the `bluespace_ai_xsens_ros_mti_driver` library. To do that, run the following:

docs/design/dockerfiles.md

@@ -15,7 +15,9 @@ docker/
 │   ├── common.dockerfile
 │   └── final.dockerfile
 ├── snippets/
-│   ├── chrono.dockerfile
+│   ├── agx.dockerfile
+│   ├── chrono-build.dockerfile
+│   ├── optix.dockerfile
 │   ├── ros.dockerfile
 │   └── rosdep.dockerfile
 ├── chrono.dockerfile
@@ -29,7 +31,7 @@ docker/
 ## `docker/data/`
 
 This folder holds data files that may be used by dockerfile snippets. For example,
-the [`docker/snippets/chrono.dockerfile`](../../docker/snippets/chrono.dockerfile) requires the OptiX build script; this file should go here.
+the [`docker/snippets/optix.dockerfile`](../../docker/snippets/optix.dockerfile) requires the OptiX build script; this file should go here.
 
 ## `docker/common/`
 
@@ -104,7 +106,7 @@ set the `CMD` to be `${USERSHELLPATH}`.
 This folder contains dockerfile "snippets", or small scripts that are included in
 service dockerfiles to build specific packages, such as Chrono or ROS.
 
-### `docker/snippets/chrono.dockerfile`
+### `docker/snippets/chrono-build.dockerfile`
 
 This file builds Chrono from source. It currently builds a non-configurable list of
 chrono modules that is listed below:
@@ -119,10 +121,6 @@ chrono modules that is listed below:
 
 Furthermore, it also builds [`chrono_ros_interfaces`](https://github.com/projectchrono/chrono_ros_interfaces). This is required to build `Chrono::ROS`.
 
-**OPTIX_SCRIPT**: The location _on the host_ that the optix script is located at. This
-script can be found on NVIDIA's OptiX downloads page. For more information, see the
-[FAQs](./../misc/faq.md#optix-install).
-
 **ROS_DISTRO**: The ROS distro to use.
 
 **ROS_WORKSPACE_DIR** _(Default: `${USERHOME}/ros_workspace`)_. The directory to build
@@ -146,6 +144,8 @@ as this is _not_ a volume.
 The user profile is updated to add the python binary directory to `PYTHONPATH` and
 the lib directory is appended to `LD_LIBRARY_PATH`.
 
+**REMOVE_OPTIX** _(Default: `false`)_: Whether to remove the optix library after building chrono. This should be `'true'` if you plan to push the image to some public repository.
+
 ### `docker/snippets/ros.dockerfile`
 
 To decrease image size and allow easy customization, ROS is installed separately (as
@@ -156,6 +156,14 @@ snippet will install ROS here.
 
 **ROS_INSTALL_PREFIX** _(Default: `/opt/ros/${ROS_DISTRO}`)_: The install prefix that ROS is installed to. This should be the folder location of the `setup.bash` file. By default, if installed through `apt` it will be `/opt/ros/${ROS_DISTRO}`. If it's pre-installed for tegra images, it's at `/opt/ros/${ROS_DISTRO}/install`.
 
+### `docker/snippets/optix.dockerfile`
+
+This snippet installs optix in the image. It expects an optix script to be present on the host.
+
+**OPTIX_SCRIPT**: The location _on the host_ that the optix script is located at. This
+script can be found on NVIDIA's OptiX downloads page. For more information, see the
+[FAQs](./../misc/faq.md#optix-install).
+
 ### `docker/snippets/rosdep.dockerfile`
 
 `rosdep` is a useful tool in ROS that parses nested packages, looks inside each
@@ -209,3 +217,9 @@ Below is some additional information for people interested in the underlying wor
 ### `dockerfile-x`
 
 In order to be more extensible and general purpose, the dockerfiles mentioned below were built around `dockerfile-x`. [`dockerfile-x`](https://github.com/devthefuture-org/dockerfile-x) is a docker plugin that supports importing of other dockerfiles through the `INCLUDE` docker build action. Using `INCLUDE`, we can construct service dockerfiles that mix and match different [snippets](#dockersnippets) that we implement.
+
+### Docker Hub
+
+To expedite start up time, multi-platform builds have been made available on [uwsbel's Docker Hub profile](https://hub.docker.com/repository/docker/uwsbel/art/general). These are automatically built using [Github Actions](https://github.com/features/actions) (see the [workflow file](./../../.github/workflows/build-docker-images.yml)).
+
+Leveraging `docker buildx bake`, images can be built on a specific architecture for other achitectures. What this means is that we can use a basic Github runner to build images that can be used on multiple OS's and/or hardware (e.g. MacOS, arm, x86, etc.). This means that when spinning up the images on our system, building the images locally is no longer required. Furthermore, when an update is pushed to the repository, because Github Actions are automated on pushes to `master`, new images will be built and pushed to Docker Hub; retrieving the new images is as easy as `atk dev -c pull -s <service with new image>`.

docs/misc/faq.md

@@ -41,3 +41,16 @@ USER_GID=1001
 ## OptiX Install
 
 Chrono currently builds against OptiX 7.7. In order to install OptiX in the container, you need to install the OptiX build script that you download from [their website](https://developer.nvidia.com/designworks/optix/downloads/legacy). Then place the script in the `docker/data/` directory. Files in this folder are ignored by git, so no worries there.
+
+If you are pulling the image from [Docker Hub](https://hub.docker.com/repository/docker/uwsbel/art/general), you will also need to run the following. The image on Docker Hub doesn't include the OptiX library since it's under a non-permissive license. This command will just copy the OptiX library to the location Chrono expects and then save the image.
+
+```bash
+$ atk dev -ua -s chrono
+WARNING  | logger.set_verbosity :: Verbosity has been set to WARNING
+[+] Running 1/1
+ ✔ Container art-chrono  Started
+art@art-chrono:~/art/sim$ cd ../docker/data/
+art@art-chrono:~/art/sim$ sudo bash <optix script>.sh --prefix=/opt/optix --skip-license
+art@art-chrono:~/art/sim$ exit
+$ container_id=$(atk dev -c ps -s chrono --compose-arg='-q'); docker commit $container_id $(docker inspect -f '{{.Config.Image}}' $container_id)
+```

docs/usage/how_to_run.md

@@ -18,9 +18,10 @@ This is a quick review of some `atk` concepts and how to do some basic operation
 
 ### Building the services
 
-Explicitly building the services is not actually required. When you run the `up` command for the first time, the images will also be built.
+> [!TIP]
+> Explicitly building the services is not actually required. We have pre-built images on [Docker Hub](https://hub.docker.com/repository/docker/uwsbel/art/general) which will be pulled when you use the `up` command.
 
-At the moment, there are three services: `vnc`, `chrono`, and `dev`. We can build all of these in one go:
+Let's say you want to build three services: `vnc`, `chrono`, and `dev`. We can build all of these in one go:
 
 ```bash
 $ atk dev -b -s vnc chrono dev