Merge pull request #3053 from robotology/docker_support

Added experimental docker image in CI and documentation
robotology · Nov 23, 2023 · 76a6c45 · 76a6c45
2 parents a29c6b2 + ca601fe
commit 76a6c45
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diff --git a/.github/workflows/docker-build.yml b/.github/workflows/docker-build.yml
@@ -0,0 +1,19 @@
+name: Docker build
+
+on:
+  workflow_dispatch:
+  push:
+    branches:
+      - master
+
+jobs:
+
+  docker:
+    name: 'Docker Image'
+    runs-on: ubuntu-22.04
+    steps:
+    - name: Build Docker Image
+      id: build_docker_image
+      run: |
+        cd docker
+        docker build -t yarp:ubuntu22.04 .
diff --git a/doc/001_installation/0_installation.dox b/doc/001_installation/0_installation.dox
@@ -1,6 +1,8 @@
 /**
 \page yarp_installation Installation and setup
 
+You can install Yarp on you device following the guide below:
+
 \subpage download
 
 \subpage dependencies
@@ -13,4 +15,9 @@
 
 \subpage yarp_cluster
 
+
+You can also try Yarp without installing it, using the official Docker image:
+
+\subpage yarp_docker
+
 */
diff --git a/doc/001_installation/7_docker.dox b/doc/001_installation/7_docker.dox
@@ -0,0 +1,27 @@
+/**
+\page yarp_docker Docker image for Yarp
+
+You can find the official Yarp docker image here:
+
+ + https://github.com/robotology/yarp/docker
+
+You can build it using the command:
+
+\verbatim
+cd yarp/docker
+docker build -t yarp:ubuntu22.04 .
+\endverbatim
+
+You can run the docker image using the command:
+
+\verbatim
+sudo docker run --rm -it --privileged --network host --pid host -e DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix -v /etc/hosts:/etc/hosts -e QT_X11_NO_MITSHM=1 yarp:ubuntu22.04
+\endverbatim
+
+To use the graphics inside the docker images, remember to disable X permission with the following command:
+
+\verbatim
+sudo xhost +
+\endverbatim
+
+*/
diff --git a/doc/release/master.md b/doc/release/master.md
@@ -39,6 +39,10 @@ Fixes
 New Features
 ------------
 
+### Docker
+
+Added new experimental docker image for Ubuntu22.04 http://github.com/robotology/yarp/docker
+
 ### GUIs
 
 #### yarpaudiocontrolgui

diff --git a/docker/Dockerfile b/docker/Dockerfile
@@ -0,0 +1,162 @@
+FROM ubuntu:22.04
+LABEL maintainer="Marco Randazzo"
+
+# Non-interactive installation mode
+ENV DEBIAN_FRONTEND=noninteractive
+ENV DOCKER_UPDATED_ON=23_11_2023
+
+# Install essentials
+RUN apt-get update && apt-get install -y apt-utils \
+                          software-properties-common \
+                          sudo \
+                          psmisc \
+                          lsb-release \
+                          protobuf-compiler \
+                          libatlas-base-dev \
+                          tmux \
+                          nano \
+                          geany \
+                          vim \
+                          wget \
+                          curl \
+                          build-essential \
+                          git gitk \
+                          cmake \
+                          cmake-curses-gui \
+                          autoconf \
+                          xserver-xorg-video-dummy \
+                          xserver-xorg-legacy \
+                          net-tools \
+                          terminator \
+                          apt-transport-https \
+                          ca-certificates \
+                          gnupg \
+                          locales \
+                          python3-setuptools \
+                          python3-pip \
+                          iproute2 \
+                          python3-tornado \
+                          lsof \
+                          iftop \
+                          iputils-ping \
+                          gdb \
+                          bash-completion \
+                          btop \
+                          mlocate 
+                   && rm -rf /var/lib/apt/lists/*
+
+RUN pip3 install numpy bpytop
+
+RUN sed -i 's/allowed_users=console/allowed_users=anybody/' /etc/X11/Xwrapper.config
+COPY ./common/xorg.conf /etc/X11/xorg.conf
+
+# Install yarp dependencies
+RUN apt-get install -y     libace-dev \
+                           libsqlite3-dev \
+                           libtinyxml-dev \
+                           libedit-dev \
+                           qtbase5-dev \
+                           qtdeclarative5-dev \
+                           qtmultimedia5-dev \
+                           libqt5opengl5-dev \
+                           libqcustomplot-dev \
+                           libopencv-dev \
+                           libeigen3-dev \
+                           libgraphviz-dev \
+                           libpng-dev \
+                           libv4l-dev \
+                           libavcodec-dev \
+                           libavdevice-dev \
+                           libavformat-dev \
+                           libavutil-dev \
+                           portaudio19-dev \
+                           libsdl1.2-dev \
+                           libopenni2-dev \
+                           libftdi-dev \
+                           libi2c-dev \
+                           libjpeg-dev \
+                           libpcl-dev \
+                           libsoxr-dev \
+                           libgstreamer1.0-dev \
+                           libgstreamer-plugins-base1.0-dev
+
+# Install SWIG and bindings dependencies
+RUN apt-get install -qq -y swig \
+                           mono-mcs \
+                           liblua5.3-dev \
+                           lua5.3 \
+                           tcl-dev \
+                           tk-dev \
+                           python3-dev \
+                           liboctave-dev \
+                           ruby-dev \
+                           ruby \
+                           perl
+
+# Create user: user1
+USER root
+RUN useradd -l -u 33334 -G sudo -md /home/user1 -s /bin/bash -p user1 user1 && \
+    # passwordless sudo for users in the 'sudo' group
+    sed -i.bkp -e 's/%sudo\s\+ALL=(ALL\(:ALL\)\?)\s\+ALL/%sudo ALL=NOPASSWD:ALL/g' /etc/sudoers
+
+# Set ENV
+USER user1
+RUN mkdir /home/user1/robotology
+ENV robotology_install_user user1
+ENV user1_home /home/$robotology_install_user
+ENV robotology_install_folder $user1_home/robotology
+
+# Build ycm
+USER $robotology_install_user
+WORKDIR $robotology_install_folder
+RUN git clone https://github.com/robotology/ycm.git -b master
+RUN cd ycm && mkdir build && cd build && \
+    cmake .. \
+    -DCMAKE_BUILD_TYPE=Release && \
+    make -j11
+ENV YCM_DIR=/home/user1/robotology/ycm/build
+
+# Build YARP
+USER $robotology_install_user
+WORKDIR $robotology_install_folder
+RUN git clone https://github.com/robotology/yarp.git -b master
+RUN cd yarp && mkdir build && cd build && \
+    cmake .. \
+    -DCMAKE_BUILD_TYPE=Release \
+    -DYARP_COMPILE_libYARP_math=ON \
+    -DYARP_COMPILE_GUIS=ON \
+    -DYARP_COMPILE_DEVICE_PLUGINS=ON \
+    -DYARP_COMPILE_ALL_FAKE_DEVICES=ON \
+    -DENABLE_yarpcar_mjpeg=ON \
+    -DENABLE_yarpcar_segmentationimage=ON \
+    -DENABLE_yarpcar_portmonitor=ON \
+    -DENABLE_yarppm_bottle_compression_zlib=ON \
+    -DENABLE_yarppm_depthimage_compression_zlib=ON \
+    -DENABLE_yarppm_image_compression_ffmpeg=ON \
+    -DENABLE_yarppm_depthimage_to_mono=ON \
+    -DENABLE_yarppm_depthimage_to_rgb=ON && \
+    make -j11
+ENV YARP_ROOT=$robotology_install_folder/yarp
+ENV YARP_DIR=$robotology_install_folder/yarp/build
+
+# YARP bindings
+USER $robotology_install_user
+WORKDIR $robotology_install_folder
+RUN cd yarp && cd bindings &&  mkdir build && cd build && cmake .. -DCREATE_PYTHON=ON && make -j11
+
+# Install YARP completion
+RUN sudo ln -s /usr/local/share/bash-completion/completions/yarp /usr/share/bash-completion/completions
+
+# Set environmental variables
+USER $robotology_install_user
+RUN echo "PS1='\[\e]0;\u \w\a\]\[\033[01;32m\]\u\[\033[00m\] \[\033[01;34m\]\w\[\033[00m\] \$ '" >> /home/$robotology_install_user/.bashrc
+ENV PATH=$PATH:$YARP_DIR/bin
+ENV DISPLAY=:1
+ENV YARP_DATA_DIRS=$YARP_DIR/share/yarp
+ENV LD_LIBRARY_PATH=$robotology_install_folder/yarp/build/lib/yarp/
+ENV YARP_COLORED_OUTPUT=1
+ENV QT_X11_NO_MITSHM=1
+ENV PYTHONPATH=$PYTHONPATH:/home/user1/robotology/yarp/bindings/build/lib/python3/
+
+# Manage yarp port
+EXPOSE 10000/tcp 10000/udp
diff --git a/docker/common/xorg.conf b/docker/common/xorg.conf
@@ -0,0 +1,23 @@
+Section "Monitor"
+  Identifier "Monitor0"
+  HorizSync 28.0-80.0
+  VertRefresh 48.0-75.0
+  # https://arachnoid.com/modelines/
+  # 1920x1080 @ 60.00 Hz (GTF) hsync: 67.08 kHz; pclk: 172.80 MHz
+  Modeline "1920x1080_60.00" 172.80 1920 2040 2248 2576 1080 1081 1084 1118 -HSync +Vsync
+EndSection
+Section "Device"
+  Identifier "Card0"
+  Driver "dummy"
+  VideoRam 256000
+EndSection
+Section "Screen"
+  DefaultDepth 24
+  Identifier "Screen0"
+  Device "Card0"
+  Monitor "Monitor0"
+  SubSection "Display"
+    Depth 24
+    Modes "1920x1080_60.00"
+  EndSubSection
+EndSection
diff --git a/src/devices/fakeBattery/fakeBattery.cpp b/src/devices/fakeBattery/fakeBattery.cpp
@@ -248,7 +248,7 @@ void FakeBattery::updateStatus()
             battery_status = yarp::dev::IBattery::Battery_status::BATTERY_CRITICAL_WARNING;
         }
     } else if (battery_current > -0.1) {
-        battery_status = yarp::dev::IBattery::Battery_status::BATTERY_OK_STANBY;
+        battery_status = yarp::dev::IBattery::Battery_status::BATTERY_OK_STANDBY;
     } else {
         battery_status = yarp::dev::IBattery::Battery_status::BATTERY_OK_IN_CHARGE;
     }

diff --git a/src/devices/laserFromDepth/laserFromDepth.cpp b/src/devices/laserFromDepth/laserFromDepth.cpp
@@ -32,7 +32,7 @@ bool LaserFromDepth::open(yarp::os::Searchable& config)
 {
     Property subConfig;
     m_info = "LaserFromDepth device";
-    m_device_status = DEVICE_OK_STANBY;
+    m_device_status = DEVICE_OK_STANDBY;
 
 #ifdef LASER_DEBUG
     yCDebug(LASER_FROM_DEPTH) << "%s\n", config.toString().c_str();

diff --git a/src/devices/laserHokuyo/laserHokuyo.cpp b/src/devices/laserHokuyo/laserHokuyo.cpp
@@ -30,7 +30,7 @@ bool laserHokuyo::open(yarp::os::Searchable& config)
 {
     internal_status = HOKUYO_STATUS_NOT_READY;
     info = "Hokuyo Laser";
-    device_status = DEVICE_OK_STANBY;
+    device_status = DEVICE_OK_STANDBY;
 
     yCTrace(LASERHOKUYO, "%s", config.toString().c_str());
 

diff --git a/src/devices/laserHokuyo/laserHokuyo.h b/src/devices/laserHokuyo/laserHokuyo.h
@@ -87,7 +87,7 @@ class laserHokuyo : public PeriodicThread, public yarp::dev::IRangefinder2D, pub
         error_codes(0),
         internal_status(0),
         info(""),
-        device_status(Device_status::DEVICE_OK_STANBY),
+        device_status(Device_status::DEVICE_OK_STANDBY),
         laser_mode(Laser_mode_type::FAKE_MODE)
     {}
 

diff --git a/src/devices/upowerBattery/upowerBattery.cpp b/src/devices/upowerBattery/upowerBattery.cpp
@@ -74,7 +74,7 @@ bool UpowerBattery::getBatteryCharge(double& charge)
 
 bool UpowerBattery::getBatteryStatus(Battery_status& status)
 {
-    status = yarp::dev::IBattery::BATTERY_OK_STANBY;
+    status = yarp::dev::IBattery::BATTERY_OK_STANDBY;
     auto st = m_interface->property("State").toUInt();
     auto wl = m_interface->property("WarningLevel").toUInt();
 
@@ -106,7 +106,7 @@ bool UpowerBattery::getBatteryStatus(Battery_status& status)
         status = yarp::dev::IBattery::BATTERY_CRITICAL_WARNING;
         break;
     case 4 /* Fully charged */:
-        status = yarp::dev::IBattery::BATTERY_OK_STANBY;
+        status = yarp::dev::IBattery::BATTERY_OK_STANDBY;
         break;
     case 0 /* Unknown */: [[fallthrough]];
     default: