add melodic dockerfiles

docker/README.md

@@ -26,13 +26,11 @@ docker run \
 ```
 This will open a bash shell in the container:
 ```
-python ./gym-gazebo/examples/turtlebot/circuit2_turtlebot_lidar_qlearn.py
+python /root/gym-gazebo/examples/turtlebot/circuit2_turtlebot_lidar_qlearn.py
 ```
 then we can connect to our new container 
 ```
-export GAZEBO_MASTER_IP=$(docker inspect --format '{{ .NetworkSettings.IPAddress }}' gym-gazebo-turtlebot)
-export GAZEBO_MASTER_URI=$GAZEBO_MASTER_IP:11345
-sudo gzclient --verbose
+export GAZEBO_MASTER_IP=$(docker inspect --format '{{ .NetworkSettings.IPAddress }}' gym-gazebo-turtlebot) && export GAZEBO_MASTER_URI=$GAZEBO_MASTER_IP:11345 && sudo gzclient --verbose
 ```
 
 Run tests in the base image. Simply enter the following command, all you need is nvidia-docker2 setup:

docker/gym-gazebo-turtlebot/melodic/Dockerfile

@@ -0,0 +1,52 @@
+FROM austinderic/gym-gazebo:melodic
+LABEL maintainer "[email protected]"
+
+#--------------------
+# Install Gym-Gazebo Turtlebot dependencies
+#------------------
+
+RUN apt-get update && apt-get install -y \
+    ros-melodic-geometry2 \
+    ros-melodic-xacro \
+    ros-melodic-roslint \
+    ros-melodic-ros-control \
+    ros-melodic-image-common \
+    ros-melodic-control-toolbox \
+    ros-melodic-gazebo-ros-pkgs \
+    ros-melodic-roslint \
+    ros-melodic-joystick-drivers \
+    ros-melodic-ecl \
+    ros-melodic-pcl-ros \
+    ros-melodic-yocs-msgs \
+    libbullet-dev \
+    libusb-dev \
+    libsdl-dev \
+    libsdl-image1.2-dev \
+    libftdi-dev \
+    mesa-utils \
+    && rm -rf /var/lib/apt/lists/*
+
+RUN pip install scikit-image
+
+#--------------------
+# Install Gym-Gazebo Turtlebot Example
+#------------------
+
+RUN mkdir -p /root/catkin_ws/src
+WORKDIR /root/catkin_ws/src
+RUN wstool init
+RUN wstool merge https://gist.githubusercontent.com/AustinDeric/c14633f1d5bcabc14307dcca2425d133/raw/266668674782d5e1096ecd13f3ea6dcf5af5248a/gym-gazebo-turtlebot-melodic.rosinstall
+RUN wstool update
+WORKDIR /root/catkin_ws
+RUN /bin/bash -c "source /opt/ros/melodic/setup.bash && catkin build"
+RUN echo "source /root/catkin_ws/devel/setup.bash" >> ~/.bashrc
+
+#--------------------
+# Setup environment variables
+#------------------
+RUN echo "export GYM_GAZEBO_WORLD_CIRCUIT2=/root/gym-gazebo/gym_gazebo/envs/assets/worlds/circuit2.world" >> ~/.bashrc
+RUN export GYM_GAZEBO_WORLD_CIRCUIT2=/root/gym-gazebo/gym_gazebo/envs/assets/worlds/circuit2.world
+RUN echo "export GAZEBO_MODEL_PATH=/root/gym-gazebo/gym_gazebo/envs/assets/models" >> ~/.bashrc
+
+WORKDIR /root/
+

docker/gym-gazebo-turtlebot/melodic/run.bash

@@ -0,0 +1,24 @@
+XAUTH=/tmp/.docker.xauth
+if [ ! -f $XAUTH ]
+then
+    xauth_list=$(xauth nlist :0 | sed -e 's/^..../ffff/')
+    if [ ! -z "$xauth_list" ]
+    then
+        echo $xauth_list | xauth -f $XAUTH nmerge -
+    else
+        touch $XAUTH
+    fi
+    chmod a+r $XAUTH
+fi
+
+docker run -it --rm \
+  --runtime=nvidia \
+  --env DISPLAY \
+  --env QT_X11_NO_MITSHM=1 \
+  --env XAUTHORITY=$XAUTH \
+  --volume "$XAUTH:$XAUTH" \
+  --volume "/tmp/.X11-unix:/tmp/.X11-unix" \
+  --name=gym-gazebo-turtlebot \
+  --rm \
+  austinderic/gym-gazebo-turtlebot:melodic \
+  /bin/bash

docker/gym-gazebo/melodic/Dockerfile

@@ -0,0 +1,38 @@
+FROM osrf/ros:melodic-desktop-full
+
+# set environment variables
+ENV NVIDIA_VISIBLE_DEVICES ${NVIDIA_VISIBLE_DEVICES:-all}
+ENV NVIDIA_DRIVER_CAPABILITIES ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics
+
+# Dependencies for building packages
+RUN apt-get update && apt-get install -y \
+    python-rosinstall \
+    python-rosinstall-generator \
+    python-wstool \
+    build-essential \
+    python-pip\
+    && rm -rf /var/lib/apt/lists/*
+
+# Unofficial ROS installation steps
+RUN pip install --upgrade pip
+
+RUN pip install -U catkin_tools
+
+
+#--------------------
+# Install OpenAI gym
+#-------------------
+
+RUN pip install gym
+
+#--------------------
+# Install gym-gazebo
+#--------------------
+
+RUN git clone https://github.com/erlerobot/gym-gazebo.git /root/gym-gazebo
+WORKDIR /root/gym-gazebo
+RUN pip install -e .
+
+
+
+

docker/gym-gazebo/melodic/run.bash

@@ -0,0 +1,22 @@
+XAUTH=/tmp/.docker.xauth
+if [ ! -f $XAUTH ]
+then
+    xauth_list=$(xauth nlist :0 | sed -e 's/^..../ffff/')
+    if [ ! -z "$xauth_list" ]
+    then
+        echo $xauth_list | xauth -f $XAUTH nmerge -
+    else
+        touch $XAUTH
+    fi
+    chmod a+r $XAUTH
+fi
+
+docker run -it --rm \
+  --runtime=nvidia \
+  --env DISPLAY \
+  --env QT_X11_NO_MITSHM=1 \
+  --env XAUTHORITY=$XAUTH \
+  --volume "$XAUTH:$XAUTH" \
+  --volume "/tmp/.X11-unix:/tmp/.X11-unix" \
+  austinderic/gym-gazebo:melodic \
+  /bin/bash