Docker Update 2

2026-01-10 22:56:43 +00:00
parent f3313eefa9
commit bbd051dcf5
4 changed files with 347 additions and 85 deletions
--- a/67
+++ b/67
@@ -41,22 +41,32 @@ RUN apt-get update && apt-get install -y \
    python3-pip \
    python3-venv \
    python3-dev \
-    # Graphics / X11
+    # Graphics / X11 / Vulkan
    libgl1 \
    libglx-mesa0 \
    libgl1-mesa-dri \
    mesa-utils \
    x11-apps \
-    # Video recording
+    libxcb-xinerama0 \
+    libxkbcommon-x11-0 \
+    libxcb-cursor0 \
+    libxcb-icccm4 \
+    libxcb-keysyms1 \
+    libxcb-shape0 \
+    libvulkan1 \
+    # Video recording & codecs
    ffmpeg \
    xdotool \
    wmctrl \
+    libx264-dev \
+    libx265-dev \
    # Networking
    netcat-openbsd \
-    # GStreamer (for ArduPilot Gazebo plugin)
+    # GStreamer (for ArduPilot Gazebo plugin video streaming)
    libgstreamer1.0-dev \
    libgstreamer-plugins-base1.0-dev \
    gstreamer1.0-plugins-bad \
+    gstreamer1.0-plugins-good \
    gstreamer1.0-libav \
    gstreamer1.0-gl \
    # OpenCV
@@ -70,12 +80,12 @@ RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o
    && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu noble main" > /etc/apt/sources.list.d/ros2.list \
    && apt-get update \
    && apt-get install -y \
-        ros-jazzy-ros-base \
-        ros-jazzy-geometry-msgs \
-        ros-jazzy-std-msgs \
-        ros-jazzy-nav-msgs \
-        ros-jazzy-sensor-msgs \
-        ros-jazzy-ros-gz \
+    ros-jazzy-ros-base \
+    ros-jazzy-geometry-msgs \
+    ros-jazzy-std-msgs \
+    ros-jazzy-nav-msgs \
+    ros-jazzy-sensor-msgs \
+    ros-jazzy-ros-gz \
    && rm -rf /var/lib/apt/lists/*

 # =============================================================================
@@ -85,18 +95,18 @@ RUN wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pk
    && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable noble main" > /etc/apt/sources.list.d/gazebo-stable.list \
    && apt-get update \
    && apt-get install -y \
-        gz-harmonic \
-        # Development packages for building ardupilot_gazebo plugin
-        libgz-cmake3-dev \
-        libgz-sim8-dev \
-        libgz-plugin2-dev \
-        libgz-common5-dev \
-        libgz-physics7-dev \
-        libgz-sensors8-dev \
-        libgz-rendering8-dev \
-        libgz-transport13-dev \
-        libgz-msgs10-dev \
-        rapidjson-dev \
+    gz-harmonic \
+    # Development packages for building ardupilot_gazebo plugin
+    libgz-cmake3-dev \
+    libgz-sim8-dev \
+    libgz-plugin2-dev \
+    libgz-common5-dev \
+    libgz-physics7-dev \
+    libgz-sensors8-dev \
+    libgz-rendering8-dev \
+    libgz-transport13-dev \
+    libgz-msgs10-dev \
+    rapidjson-dev \
    && rm -rf /var/lib/apt/lists/*

 # =============================================================================
@@ -106,11 +116,18 @@ ARG USERNAME=pilot
 ARG USER_UID=1000
 ARG USER_GID=1000

-RUN groupadd --gid $USER_GID $USERNAME \
-    && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \
-    && apt-get update \
+# Create user - handle case where GID/UID 1000 may already exist
+RUN apt-get update \
    && apt-get install -y sudo \
-    && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
+    # Create group if it doesn't exist, or use existing
+    && (getent group $USER_GID || groupadd --gid $USER_GID $USERNAME) \
+    # Create user if doesn't exist
+    && (id -u $USER_UID >/dev/null 2>&1 || useradd --uid $USER_UID --gid $USER_GID -m $USERNAME) \
+    # Ensure home directory exists and has correct ownership
+    && mkdir -p /home/$USERNAME \
+    && chown $USER_UID:$USER_GID /home/$USERNAME \
+    # Add sudo permissions
+    && echo "$USERNAME ALL=(root) NOPASSWD:ALL" > /etc/sudoers.d/$USERNAME \
    && chmod 0440 /etc/sudoers.d/$USERNAME \
    && rm -rf /var/lib/apt/lists/*

--- a/docs/docker.md
+++ b/docs/docker.md
@@ -1,20 +1,57 @@
 # Docker Setup for RDC Simulation

-This guide explains how to run the RDC Simulation environment inside a Docker container with NVIDIA GPU support and X11 display forwarding. This approach isolates the simulation environment from your host system while providing full hardware acceleration.
+This guide explains how to run the RDC Simulation environment inside a Docker container with NVIDIA GPU support and X11 display forwarding. **This is the recommended approach** for Ubuntu 25.x+ or any system where native installation has dependency issues.
+
+## Benefits of Docker
+
+| Aspect | Native Install | Docker Container |
+|--------|---------------|------------------|
+| **Ubuntu 25.x support** | ❌ Dependency conflicts | ✅ Works perfectly |
+| **ROS 2 Jazzy** | ❌ No packages for 25.x | ✅ Full support |
+| **Gazebo dev packages** | ❌ Library conflicts | ✅ All packages work |
+| **Host system** | Modified (packages, bashrc) | ✅ Untouched |
+| **Reproducibility** | Varies by system | ✅ Identical everywhere |

 ## Prerequisites

-1.  **Docker Engine**: Install Docker for your OS.
-2.  **NVIDIA GPU & Drivers**: Ensure you have an NVIDIA GPU and proprietary drivers installed.
-3.  **NVIDIA Container Toolkit**: Required for GPU pass-through to Docker.
+### 1. Docker Engine

-    ```bash
-    # Install NVIDIA Container Toolkit
-    curl -fsSL https://nvidia.github.io/libnvidia-container/gpgkey | sudo gpg --dearmor -o /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg
-    echo "deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://nvidia.github.io/libnvidia-container/stable/deb/$(. /etc/os-release;echo $ID$VERSION_ID) /" | sudo tee /etc/apt/sources.list.d/nvidia-container-toolkit.list
-    sudo apt update && sudo apt install -y nvidia-container-toolkit
-    sudo systemctl restart docker
-    ```
+```bash
+# Install Docker
+curl -fsSL https://get.docker.com | sh
+sudo usermod -aG docker $USER
+newgrp docker  # or log out and back in
+```
+
+### 2. NVIDIA GPU & Drivers (Required for Gazebo)
+
+```bash
+# Check your GPU is detected
+nvidia-smi
+```
+
+### 3. NVIDIA Container Toolkit
+
+```bash
+# Install NVIDIA Container Toolkit
+curl -fsSL https://nvidia.github.io/libnvidia-container/gpgkey | sudo gpg --dearmor -o /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg
+
+curl -s -L https://nvidia.github.io/libnvidia-container/stable/deb/nvidia-container-toolkit.list | \
+  sed 's#deb https://#deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://#g' | \
+  sudo tee /etc/apt/sources.list.d/nvidia-container-toolkit.list
+
+sudo apt-get update
+sudo apt-get install -y nvidia-container-toolkit
+sudo nvidia-ctk runtime configure --runtime=docker
+sudo systemctl restart docker
+```
+
+Verify GPU is accessible in Docker:
+```bash
+docker run --rm --gpus all nvidia/cuda:12.0-base nvidia-smi
+```
+
+---

 ## Quick Start

@@ -24,65 +61,133 @@ This guide explains how to run the RDC Simulation environment inside a Docker co
 cd ~/RDC_Simulation
 docker compose build
 ```
-*This may take 15-20 minutes mostly due to compiling Gazebo plugins.*
+
+> **Note:** First build takes 20-40 minutes (downloads ~5GB, compiles ArduPilot + plugins).

 ### 2. Allow X11 Display Access

-To allow the container to display the Gazebo GUI on your host screen:
-
 ```bash
 xhost +local:docker
 ```

+> Add this to your `~/.bashrc` to make it permanent.
+
 ### 3. Run the Container

 ```bash
 docker compose run --rm simulation
 ```

-This drops you into a bash shell inside the container as the user `pilot`.
+This drops you into a bash shell inside the container as user `pilot`.

 ---

 ## Running the Simulation

-Once inside the container, the environment is pre-configured.
+Once inside the container, the environment is pre-configured. You'll see a welcome message with available commands.

-### 1. Start the Environment
-You can use the helper script to verify everything is ready:
+### Option 1: All-in-One Script

 ```bash
-./docker-entrypoint.sh
-```
-
-### 2. Launch Components (Multi-Terminal)
-
-Since `docker compose run` gives you a single terminal, you can verify basic functionality, but for the full workflow you might want to run the combined script:
-
-```bash
-# Run everything (Gazebo + SITL + Controller)
 ./scripts/run_ardupilot_controller.sh
 ```

-**Or** manually launch components in background/separate terminals:
+### Option 2: Multi-Terminal (Recommended for Development)

-To open a second terminal into the *running* container:
-1.  Find the container name or ID: `docker ps`
-2.  Exec into it: `docker exec -it <container_name> bash`
+**Terminal 1 - Start Gazebo:**
+```bash
+./scripts/run_ardupilot_sim.sh runway
+```

-Then run your components:
-*   **Terminal 1:** Gazebo
-    ```bash
-    ./scripts/run_ardupilot_sim.sh runway
-    ```
-*   **Terminal 2:** ArduPilot SITL
-    ```bash
-    sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console
-    ```
-*   **Terminal 3:** Controller
-    ```bash
-    python scripts/run_ardupilot.py --pattern square
-    ```
+**Terminal 2 - Open new shell in same container:**
+```bash
+# On host, find container and exec into it
+docker exec -it rdc-sim bash
+# Then start SITL
+sim_vehicle.py -v ArduCopter -f gazebo-iris --model JSON --console
+```
+
+**Terminal 3 - Open another shell:**
+```bash
+docker exec -it rdc-sim bash
+# Run controller
+python scripts/run_ardupilot.py --pattern square
+```
+
+---
+
+## Docker Commands Reference
+
+### Build Commands
+
+```bash
+# Build image (standard)
+docker compose build
+
+# Build with no cache (clean rebuild)
+docker compose build --no-cache
+
+# Build just the Dockerfile directly
+docker build -t rdc-simulation .
+```
+
+### Run Commands
+
+```bash
+# Interactive shell
+docker compose run --rm simulation
+
+# Run specific command
+docker compose run --rm simulation ./scripts/run_ardupilot_sim.sh runway
+
+# Run headless (no display, for CI)
+docker compose run --rm simulation-headless
+
+# Start container in background
+docker compose up -d simulation
+docker exec -it rdc-sim bash
+```
+
+### Cleanup Commands
+
+```bash
+# Stop all running containers
+docker compose down
+
+# Stop and remove containers
+docker compose down --remove-orphans
+
+# Remove built image (to rebuild from scratch)
+docker rmi rdc-simulation:latest
+
+# Remove all project containers and images
+docker compose down --rmi all
+
+# Full cleanup (removes image + build cache)
+docker compose down --rmi all
+docker builder prune -f
+```
+
+### Complete Uninstall & Rebuild
+
+To completely remove everything and start fresh:
+
+```bash
+# 1. Stop any running containers
+docker compose down
+
+# 2. Remove the image
+docker rmi rdc-simulation:latest
+
+# 3. Clear Docker build cache (optional, saves disk space)
+docker builder prune -f
+
+# 4. Clear unused Docker data (optional, aggressive cleanup)
+docker system prune -f
+
+# 5. Rebuild from scratch
+docker compose build --no-cache
+```

 ---

@@ -91,36 +196,160 @@ Then run your components:
 The Docker image includes `ffmpeg` and tools to record the simulation.

 ### Record Flight
-Run a flight pattern and save the video automatically:

 ```bash
-python scripts/record_flight.py --pattern square --quality high --output my_flight_video
+python scripts/record_flight.py --pattern square --quality high --output my_flight
 ```
-Videos are saved to the `recordings/` directory which is mounted inside the container (if you used a volume mount) or can be copied out.

-### Record Manually
+Videos are saved to `recordings/` inside the container.
+
+### Copy Recordings to Host
+
 ```bash
-./scripts/record_simulation.sh --duration 30
+# From host machine
+docker cp rdc-sim:/home/pilot/RDC_Simulation/recordings .
 ```

 ---

 ## Headless Mode (CI/Server)

-If you are running on a remote server without a display attached, use the headless service. Note that standard Gazebo GUI will not show, but you can still run simulations and record videos (rendering offscreen).
+For running on servers without a display:

 ```bash
 docker compose run --rm simulation-headless
 ```

+Gazebo can still render offscreen for video recording using software rendering.
+
+---
+
+## Configuration Reference
+
+### docker-compose.yml Services
+
+| Service | Use Case |
+|---------|----------|
+| `simulation` | Full GUI with X11 display |
+| `simulation-headless` | No display, for CI/testing |
+
+### Environment Variables
+
+| Variable | Purpose |
+|----------|---------|
+| `DISPLAY` | X11 display (auto-detected) |
+| `NVIDIA_VISIBLE_DEVICES` | GPU visibility |
+| `HEADLESS` | Set to `1` for software rendering |
+
+### Volumes
+
+| Mount | Purpose |
+|-------|---------|
+| `/tmp/.X11-unix` | X11 socket for display |
+| `~/.Xauthority` | X11 authentication |
+
+---
+
 ## Troubleshooting

-**"All CUDA-capable devices are busy or unavailable"**
-Check your NVIDIA drivers on the host. verifying with `nvidia-smi`.
+### "permission denied" on docker commands

-**"Example: Could not connect to display :0"**
-Make sure you ran `xhost +local:docker` on the host machine.
-If using SSH, ensure X11 forwarding is enabled (`ssh -X`).
+```bash
+sudo usermod -aG docker $USER
+newgrp docker  # or log out and back in
+```

-**Persisting Data**
-The `docker-compose.yml` mounts the project directory. Changes to python scripts *inside* the container are reflected on your host machine.
+### "Could not select device driver 'nvidia'"
+
+NVIDIA Container Toolkit not installed or configured:
+```bash
+# Reinstall toolkit
+sudo apt-get install -y nvidia-container-toolkit
+sudo nvidia-ctk runtime configure --runtime=docker
+sudo systemctl restart docker
+```
+
+### "All CUDA-capable devices are busy"
+
+```bash
+# Check GPU on host
+nvidia-smi
+
+# Make sure no other process is using all GPU memory
+```
+
+### "Could not connect to display :0"
+
+```bash
+# On host machine, allow X11 connections
+xhost +local:docker
+
+# If using SSH, ensure X11 forwarding is enabled
+ssh -X user@host
+```
+
+### "Error response from daemon: No such image"
+
+Build the image first:
+```bash
+docker compose build
+```
+
+### Build fails at ArduPilot step
+
+The ArduPilot build requires significant memory. If it fails:
+```bash
+# Increase Docker memory limit (Docker Desktop)
+# Or reduce parallel jobs in Dockerfile:
+# Change: make -j$(nproc)
+# To: make -j2
+```
+
+### Container runs but Gazebo crashes
+
+```bash
+# Check OpenGL inside container
+docker compose run --rm simulation glxinfo | grep "OpenGL renderer"
+
+# Should show your NVIDIA GPU, not "llvmpipe" (software)
+```
+
+---
+
+## Development Workflow
+
+### Edit Code on Host
+
+Your code changes in `~/RDC_Simulation` are **not** automatically reflected in the container (unless you mount the volume). To test changes:
+
+```bash
+# Option 1: Rebuild image (slow)
+docker compose build
+
+# Option 2: Mount your code (edit docker-compose.yml to add volume)
+volumes:
+  - .:/home/pilot/RDC_Simulation
+```
+
+### Build Custom Image Tag
+
+```bash
+docker build -t rdc-simulation:dev .
+docker run --gpus all -it rdc-simulation:dev
+```
+
+---
+
+## What's Installed in the Container
+
+| Component | Version |
+|-----------|---------|
+| Ubuntu | 24.04 LTS |
+| ROS 2 | Jazzy |
+| Gazebo | Harmonic |
+| Python | 3.12 |
+| ArduPilot SITL | Latest (git) |
+| ArduPilot Gazebo Plugin | Latest (git) |
+| MAVProxy | Latest (pip) |
+
+All Gazebo development packages are included for plugin compilation.
--- a/docs/installation.md
+++ b/docs/installation.md
@@ -7,11 +7,23 @@
 | **OS** | Ubuntu 22.04 | Ubuntu 24.04 |
 | **RAM** | 8 GB | 16 GB |
 | **Disk** | 10 GB | 20 GB |
-| **GPU** | OpenGL 3.3 | NVIDIA/AMD dedicated |
+| **GPU** | OpenGL 3.3 | NVIDIA dedicated |

-> **Windows users**: Use WSL2 with Ubuntu (see below)
+> **Ubuntu 25.x+ users**: Native installation has dependency issues. Use [Docker](docker.md) instead (recommended).

-## Quick Install (Ubuntu/WSL2)
+> **Windows users**: Use WSL2 with Ubuntu 24.04 (see below) or Docker.
+
+## Installation Options
+
+| Method | Best For |
+|--------|----------|
+| **[Docker](docker.md)** (Recommended) | Ubuntu 25+, consistent environments, no host modifications |
+| **Native Install** | Ubuntu 22.04/24.04, full control |
+| **WSL2** | Windows users |
+
+---
+
+## Quick Install (Ubuntu 22.04/24.04)

 ```bash
 # Clone repository
--- a/setup/uninstall.sh
+++ b/setup/uninstall.sh
@@ -62,6 +62,10 @@ for arg in "$@"; do
            echo "  - ROS 2 (use: sudo apt remove 'ros-*')"
            echo "  - Gazebo (use: sudo apt remove 'gz-*')"
            echo "  - System packages"
+            echo ""
+            echo "Docker cleanup (if using Docker):"
+            echo "  docker compose down --rmi all    # Remove containers and images"
+            echo "  docker builder prune -f          # Clear build cache"
            exit 0
            ;;
    esac