feat: RAI dockerfiles (#377)

Co-authored-by: Bartek Boczek <[email protected]>

Author: maciejmajek

README.md

@@ -47,7 +47,8 @@ The RAI framework aims to:
 ## Table of Contents
 
 - [Features](#features)
-- [Setup](#setup)
+- [Setup (docker)](#setup-docker)
+- [Setup (local)](#setup)
 - [Usage examples (demos)](#simulation-demos)
 - [Debugging Assistant](#debugging-assistant)
 - [Developer resources](#developer-resources)
@@ -71,7 +72,11 @@ The RAI framework aims to:
 - [ ] SDK for RAI developers.
 - [ ] UI for configuration to select features and tools relevant for your deployment.
 
-## Setup
+## Setup (docker)
+
+Currently, docker images are experimental. See the [docker](docs/setup_docker.md) for instructions.
+
+## Setup (local)
 
 Before going further, make sure you have ROS 2 (Jazzy or Humble) installed and sourced on your system.
 

docker/Dockerfile

@@ -0,0 +1,43 @@
+# Copyright (C) 2024 Robotec.AI
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#         http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+ARG ROS_DISTRO=jazzy
+
+FROM osrf/ros:${ROS_DISTRO}-desktop-full
+ENV DEBIAN_FRONTEND=noninteractive
+
+# Install dependencies
+RUN apt-get update && apt-get install -y \
+    python3 \
+    python3-pip \
+    git \
+    wget
+
+# Install Poetry
+RUN curl -sSL https://install.python-poetry.org | python3 - --version 1.8.4
+ENV PATH="/root/.local/bin:$PATH"
+
+# Clone and setup RAI
+WORKDIR /rai
+RUN git clone https://github.com/RobotecAI/rai.git .
+
+# Install Python dependencies with Poetry
+RUN poetry install --with nomad,openset
+
+# Install ROS dependencies
+RUN /bin/bash -c '. /opt/ros/${ROS_DISTRO}/setup.bash && \
+    rosdep install --from-paths src --ignore-src -r -y'
+
+# Build the workspace
+RUN /bin/bash -c '. /opt/ros/${ROS_DISTRO}/setup.bash && colcon build --symlink-install'

docs/setup_docker.md

@@ -0,0 +1,47 @@
+# Setup RAI with docker
+
+> [!IMPORTANT]
+> Docker images are experimental. For tested setup, see the [local setup](../README.md#setup-local).
+
+## 1. Build the docker image
+
+Choose the docker image based on your preferred ROS 2 version.
+
+### 1.1. Humble
+
+```bash
+docker build -t rai:humble --build-arg ROS_DISTRO=humble -f docker/Dockerfile .
+```
+
+### 1.2. Jazzy
+
+```bash
+docker build -t rai:jazzy --build-arg ROS_DISTRO=jazzy -f docker/Dockerfile .
+```
+
+## 2. Run the docker container
+
+> [!TIP]
+> If you intend to run demos on the host machine, ensure the docker container can communicate with it.
+> Test this by running the standard ROS 2 example with one node in docker and one on the host: [link](https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debs.html#try-some-examples).
+> If topics are not visible or cannot be subscribed to, try using [rmw_cyclone_dds](https://github.com/ros2/rmw_cyclonedds) instead of the default rmw_fastrtps_cpp.
+
+### 2.1. Humble
+
+```bash
+docker run --net=host --ipc=host --pid=host -it -v $(pwd):/rai rai:humble
+```
+
+### 2.2. Jazzy
+
+```bash
+docker run --net=host --ipc=host --pid=host -it -v $(pwd):/rai rai:jazzy
+```
+
+## 3. Run the tests to confirm the setup
+
+```sh
+cd /rai
+source setup_shell.sh
+poetry run pytest
+```