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Merge pull request #186 from rpng/develop_v2.4
Development v2.4 - Camera classes, Masks, Formatting and Smaller Fixes
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| cmake-build-debug | ||
| cmake-build-* | ||
| build | ||
| Build | ||
| *.*~ | ||
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| FROM osrf/ros:noetic-desktop-full | ||
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| # ========================================================= | ||
| # ========================================================= | ||
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| # Are you are looking for how to use this docker file? | ||
| # - https://docs.openvins.com/dev-docker.html | ||
| # - https://docs.docker.com/get-started/ | ||
| # - http://wiki.ros.org/docker/Tutorials/Docker | ||
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| # ========================================================= | ||
| # ========================================================= | ||
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| # Dependencies we use, catkin tools is very good build system | ||
| # Also some helper utitiles for fast in terminal edits (nano etc) | ||
| RUN apt-get update && apt-get install -y libeigen3-dev nano git cmake | ||
| RUN sudo apt-get install -y python3-catkin-tools python3-osrf-pycommon | ||
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| # Install deps needed for clion remote debugging | ||
| # https://blog.jetbrains.com/clion/2020/01/using-docker-with-clion/ | ||
| RUN apt-get update && apt-get install -y ssh build-essential gcc g++ \ | ||
| gdb clang cmake rsync tar python && apt-get clean | ||
| RUN ( \ | ||
| echo 'LogLevel DEBUG2'; \ | ||
| echo 'PermitRootLogin yes'; \ | ||
| echo 'PasswordAuthentication yes'; \ | ||
| echo 'Subsystem sftp /usr/lib/openssh/sftp-server'; \ | ||
| ) > /etc/ssh/sshd_config_test_clion \ | ||
| && mkdir /run/sshd | ||
| RUN useradd -m user && yes password | passwd user | ||
| RUN usermod -s /bin/bash user | ||
| CMD ["/usr/sbin/sshd", "-D", "-e", "-f", "/etc/ssh/sshd_config_test_clion"] | ||
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| /** | ||
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| @page dev-docker Developing with Docker | ||
| @tableofcontents | ||
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| @section dev-docker-install Installing Docker | ||
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| This will differ on which operating system you have installed, this guide is for linux-based systems. | ||
| Please take a look at the official Docker [Get Docker](https://docs.docker.com/get-docker/) guide. | ||
| There is also a guide from ROS called [getting started with ROS and Docker](http://wiki.ros.org/docker/Tutorials/Docker). | ||
| On Ubuntu one should be able to do the following to get docker: | ||
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| @code{.shell-session} | ||
| curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo gpg --dearmor -o /usr/share/keyrings/docker-archive-keyring.gpg | ||
| echo "deb [arch=amd64 signed-by=/usr/share/keyrings/docker-archive-keyring.gpg] https://download.docker.com/linux/ubuntu $(lsb_release -cs) stable" | sudo tee /etc/apt/sources.list.d/docker.list > /dev/null | ||
| sudo apt-get update | ||
| sudo apt-get install docker-ce docker-ce-cli containerd.io | ||
| @endcode | ||
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| From there we can install [NVIDIA Container Toolkit](https://github.com/NVIDIA/nvidia-docker) to allow for the docker to use our GPU and for easy GUI pass through. | ||
| You might also want to check out [this](https://roboticseabass.wordpress.com/2021/04/21/docker-and-ros/) blogpost for some more details. | ||
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| @code{.shell-session} | ||
| distribution=$(. /etc/os-release;echo $ID$VERSION_ID) \ | ||
| && curl -s -L https://nvidia.github.io/nvidia-docker/gpgkey | sudo apt-key add - \ | ||
| && curl -s -L https://nvidia.github.io/nvidia-docker/$distribution/nvidia-docker.list | sudo tee /etc/apt/sources.list.d/nvidia-docker.list | ||
| sudo apt-get update | ||
| sudo apt-get install -y nvidia-docker2 | ||
| sudo systemctl restart docker | ||
| sudo docker run --rm --gpus all nvidia/cuda:11.0-base nvidia-smi #to verify install | ||
| @endcode | ||
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| From this point we should be able to "test" that everything is working ok. | ||
| First on the host machine we need to allow for x11 windows to connect. | ||
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| @code{.shell-session} | ||
| xhost + | ||
| @endcode | ||
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| We can now run the following command which should open gazebo GUI on your main desktop window. | ||
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| @code{.shell-session} | ||
| docker run -it --net=host --gpus all \ | ||
| --env="NVIDIA_DRIVER_CAPABILITIES=all" \ | ||
| --env="DISPLAY" \ | ||
| --env="QT_X11_NO_MITSHM=1" \ | ||
| --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \ | ||
| osrf/ros:noetic-desktop-full \ | ||
| bash -it -c "roslaunch gazebo_ros empty_world.launch" | ||
| @endcode | ||
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| Alternatively we can launch directly into a bash shell and run commands from in there. | ||
| This basically gives you a terminal in the docker container. | ||
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| @code{.shell-session} | ||
| docker run -it --net=host --gpus all \ | ||
| --env="NVIDIA_DRIVER_CAPABILITIES=all" \ | ||
| --env="DISPLAY" \ | ||
| --env="QT_X11_NO_MITSHM=1" \ | ||
| --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \ | ||
| osrf/ros:noetic-desktop-full \ | ||
| bash | ||
| # you should be able to launch rviz once in bash | ||
| rviz | ||
| @endcode | ||
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| @section dev-docker-openvins Running OpenVINS with Docker | ||
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| Clone the OpenVINS repository, build the container and then launch it. | ||
| The [Dockerfile](https://github.com/rpng/open_vins/blob/master/Dockerfile) will not build the repo by default, thus you will need to build the project. | ||
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| @m_class{m-block m-warning} | ||
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| @par Use a Workspace Directory Mount | ||
| Here it is important to note that we are going to create a dedicated ROS *workspace* which will then be loaded into the workspace. | ||
| Thus if you are going to develop packages alongside OpenVINS you would make sure you have cloned your source code into the same workspace. | ||
| The workspace local folder will be mounted to `/catkin_ws/` in the docker, thus all changes from the host are mirrored. | ||
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| @code{.shell-session} | ||
| mkdir -p ~/workspace/catkin_ws_ov/src | ||
| cd ~/workspace/catkin_ws_ov/src | ||
| git clone https://github.com/rpng/open_vins.git | ||
| cd open_vins | ||
| docker build -t openvins . | ||
| cd ~/workspace/catkin_ws_ov | ||
| @endcode | ||
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| If the dockerfile breaks, you can remove the image and reinstall using the above | ||
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| @code{.shell-session} | ||
| docker image list | ||
| docker image rm openvins --force | ||
| @endcode | ||
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| From here it is a good idea to create a nice helper command which will launch the docker and also pass the GUI to your host machine. | ||
| Here you can append it to the bottom of the ~/.bashrc so that we always have it on startup or just run the two commands on each restart | ||
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| @m_class{m-block m-warning} | ||
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| @par Directory Binding | ||
| You will need to specify *absolute directory paths* to the workspace and dataset folders on the host you want to bind. | ||
| Bind mounts are used to ensure that the host directory is directly used and all edits made on the host are sync'ed with | ||
| the docker container. See the docker [bind mounts](https://docs.docker.com/storage/bind-mounts/) documentation. You | ||
| can add and remove mounts from this command as you see the need. | ||
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| @code{.shell-session} | ||
| nano ~/.bashrc | ||
| # add to the bashrc file | ||
| xhost + &> /dev/null | ||
| export DOCKER_CATKINWS=/home/username/workspace/catkin_ws_ov | ||
| export DOCKER_DATASETS=/home/username/datasets | ||
| alias ov_docker="docker run -it --net=host --gpus all \ | ||
| --env=\"NVIDIA_DRIVER_CAPABILITIES=all\" --env=\"DISPLAY\" \ | ||
| --env=\"QT_X11_NO_MITSHM=1\" --volume=\"/tmp/.X11-unix:/tmp/.X11-unix:rw\" \ | ||
| --mount type=bind,source=$DOCKER_CATKINWS,target=/catkin_ws \ | ||
| --mount type=bind,source=$DOCKER_DATASETS,target=/datasets \ | ||
| openvins $1" | ||
| # save and exit | ||
| source ~/.bashrc | ||
| @endcode | ||
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| Now we can launch RVIZ and also compile the OpenVINS codebase. | ||
| From two different terminals on the host machine one can run the following: | ||
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| @code{.shell-session} | ||
| ov_docker roscore | ||
| ov_docker rosrun rviz rviz -d /catkin_ws/src/open_vins/ov_msckf/launch/display.rviz | ||
| ov_docker bash | ||
| @endcode | ||
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| Now once inside the docker with the bash shell we can build and launch an example simulation: | ||
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| @code{.shell-session} | ||
| cd catkin_ws | ||
| catkin build | ||
| source devel/setup.bash | ||
| roslaunch ov_msckf pgeneva_sim.launch | ||
| @endcode | ||
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| @m_class{m-block m-danger} | ||
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| @par Real-time Performance | ||
| On my machine running inside of the docker container is not real-time in nature. I am not sure why this is the case | ||
| if someone knows if something is setup incorrectly please open a github issue. Thus it is recommended to only use | ||
| the "serial" nodes which allows for the same parameters to be used as when installing directly on an OS. | ||
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| @section dev-docker-clion Using Jetbrains Clion and Docker | ||
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| Jetbrains provides some instructions on their side and a youtube video. | ||
| Basically, Clion needs to be configured to use an external compile service and this service | ||
| needs to be exposed from the docker container. | ||
| I still recommend users compile with `catkin build` directly in the docker, but this will allow for debugging and syntax insights. | ||
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| - https://blog.jetbrains.com/clion/2020/01/using-docker-with-clion/ | ||
| - https://www.youtube.com/watch?v=h69XLiMtCT8 | ||
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| After building the OpenVINS image (as above) we can do the following which will start a detached process in the docker. | ||
| This process will allow us to connect Clion to it. | ||
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| @code{.shell-session} | ||
| docker run -d --cap-add sys_ptrace -p127.0.0.1:2222:22 --name clion_remote_env openvins | ||
| @endcode | ||
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| We can now change Clion to use the docker remote: | ||
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| 1. In short, you should add a new Toolchain entry in settings under Build, Execution, Deployment as a Remote Host type. | ||
| 2. Click in the Credentials section and fill out the SSH credentials we set-up in the Dockerfile | ||
| - Host: localhost | ||
| - Port: 2222 | ||
| - Username: user | ||
| - Password: password | ||
| 3. Add a CMake profile that uses this toolchain and you’re done. | ||
| 4. Change build target to be this new CMake profile (optionally just edit / delete the default) | ||
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| To add support for ROS you will need to manually set environmental variables in the CMake profile. | ||
| These were generated by going into the ROS workspace, building a package, and then looking at `printenv` output. | ||
| It should be under `Settings > Build,Execution,Deployment > CMake > (your profile) > Environment`. | ||
| This might be a brittle method, but not sure what else to do... (also see [this](https://www.allaban.me/posts/2020/08/ros2-setup-ide-docker/) blog post). | ||
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| @code{.shell-session} | ||
| LD_PATH_LIB=/catkin_ws/devel/lib:/opt/ros/noetic/lib;PYTHON_EXECUTABLE=/usr/bin/python3;PYTHON_INCLUDE_DIR=/usr/include/python3.8;ROS_VERSION=1;CMAKE_PREFIX_PATH=/catkin_ws/devel:/opt/ros/noetic;LD_LIBRARY_PATH=/catkin_ws/devel/lib:/opt/ros/noetic/lib;PATH=/opt/ros/noetic/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin;PKG_CONFIG_PATH=/catkin_ws/devel/lib/pkgconfig:/opt/ros/noetic/lib/pkgconfig;PYTHONPATH=/opt/ros/noetic/lib/python3/dist-packages;ROSLISP_PACKAGE_DIRECTORIES=/catkin_ws/devel/share/common-lisp;ROS_PACKAGE_PATH=/catkin_ws/src/open_vins/ov_core:/catkin_ws/src/open_vins/ov_data:/catkin_ws/src/open_vins/ov_eval:/catkin_ws/src/open_vins/ov_msckf:/opt/ros/noetic/share | ||
| @endcode | ||
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| When you build in Clion you should see in `docker stats` that the `clion_remote_env` is building the files and maxing out the CPU during this process. | ||
| Clion should send the source files to the remote server and then on build should build and run it remotely within the docker container. | ||
| A user might also want to edit `Build,Execution,Deployment > Deployment` settings to exclude certain folders from copying over. | ||
| See this [jetbrains documentation page](https://www.jetbrains.com/help/clion/remote-projects-support.html) for more details. | ||
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| */ |
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