Removed rocker dependency (#47)

* Removed rocker and now handling everything manually (good luck)

* Minor fix regarding permissions

* Using the official opengl supported nvidia container for each ubuntu version

* Fixed the integrated graphics parameter

* Fixed initial ros version, which was always using melodic

README.md

@@ -1,17 +1,16 @@
 <img src=media/rosez.png width="444px"/>
 
-Docker 'n' rocker for quick and easy access to ROS2 (humble) and ROS1 (noetic) along with their GUI applications like Gazebo and rViz without the need for a local installation
+Docker hacks for quick and easy access to ROS2 (humble) and ROS1 (noetic) along with their GUI applications like Gazebo and rViz without the need for a local installation
 
 ## Requirements
 
 * `docker`
-* `pip`
 * `Linux` (not necessarily Debian-based)
 * `dialog` (optionally for interactive terminal UI)
 
 ## Instructions
-* Make sure your system satisfies all the requirements. The installer script tries to remain distro-agnostic, thus does not install anything apart from `rocker` through `pip`).
-* Run the `installer.bash` script with a single argument with the rosez version you need to install. e.g. `./installer.bash ros2ez`. You can also run it interactively with no arguments. For ros-ez versions < `1.7.0`, you must use one of the `ros_*installer.bash` script. There are multiple, one for each supported ROS distribution.
+* Make sure your system satisfies all the requirements. The installer script tries to remain distro-agnostic, thus does not install anything.
+* Run the `installer.bash` script with a single argument with the rosez version you need to install. e.g. `./installer.bash ros2ez`. You can also run it interactively with no arguments. For ros-ez versions < `1.7.0`, you must use one of the `ros_*installer.bash` scripts. There are multiple, one for each supported ROS distribution.
 * Run `. ~/.bashrc` or open a new terminal.
 * Run `ros2ez` for ROS2 or `rosez` for ROS1 followed by the command you want to run else you will be thrown in a shell inside the image (useful if autocomplete is required).
 
@@ -40,6 +39,8 @@ or
 * [For versions >= `v1.6.0`] A ROS2 Foxy version is now available (with the `ros2ezf` command). Its image comes with built-in `ros1_bridge` support for *ez* ROS1-ROS2 integration.
 * [For versions >= `v1.6.1`] A deletion script has been included inside the `internal/deeper/` folder. It takes the version-to-delete as an argument. For example, `bash delete_version.bash ros2ezf` deletes the Foxy version for rosez.
 * [For versions >= `v1.7.0`] A new script to easily create systemd services was added. It can be used interactively using `dialog` or non-interactively by passing it 9 arguments. Running the `create_rosez_systemd_service.bash` with less than 9 args (but more than 0) will trigger a help message. Additionally the installation scripts have been merged into one, `installer.bash`. You can now use it interactively, or pass a single argument with the rosez version you need to install. e.g. `./installer.bash ros2ez`
+* [For versions >= `v2.0.0`] Docker devices like sound and graphics are now manually handled. This version is **NOT** the same as the previous ones. This is a pretty substantial change, thus getting a major release. Externally nothing should change for the end user, but internally a lot has changed. OSRF's `rocker` is no longer utilized, making docker handling more versatile (but also fragile).
+
 ## Tested platforms
 * EndeavourOS
 * Fedora 35

installer.bash

@@ -41,7 +41,6 @@ if [[ -z "$image_name" ]]; then
     done
     exit -1
 fi
-sudo pip install rocker==0.2.10
 cd $SCRIPT_DIR
 need_rr=0
 if ! id -nGz "$USER" | grep -qzxF "docker"

internal/entrypoint.bash

@@ -1,12 +1,12 @@
 #!/bin/bash
+sudo find /home/rosez_user ! -user rosez_user -execdir sudo chown rosez_user:rosez_user {} \+
 source /home/rosez_user/helpers.bash
 get_supported_versions
 lock_file=$LOCKFILE
 skip_compilation=$SKIPCOMPILATION
 rosversion="unknown"
 lockation=""
 wstxt=""
-find /home/rosez_user ! -user rosez_user -execdir sudo chown rosez_user:rosez_user {} \+
 for i in $(seq 0 $(( ${#distros[@]}-1 )) ); do
     if [ -f /opt/ros/"${distros[$i]}"/setup.bash ]; then
         rosversion="${distros[$i]}"

internal/ros2_Dockerfile

@@ -1,3 +1,11 @@
+FROM nvidia/opengl:1.2-glvnd-devel-ubuntu22.04 as nvidia
+
+FROM osrf/ros:humble-desktop-full
+
+COPY --from=nvidia /usr/local /usr/local
+
+ENV NVIDIA_VISIBLE_DEVICES=all NVIDIA_DRIVER_CAPABILITIES=all
+
 FROM osrf/ros:humble-desktop-full
 
 LABEL maintainer="George Stavrinos <[email protected]>"
@@ -42,18 +50,18 @@ RUN addgroup --gid $GROUP_ID rosez_user && adduser --disabled-password --gecos '
 USER rosez_user
 RUN sudo chown -R rosez_user:rosez_user /home/rosez_user && rosdep update
 
-VOLUME /opt/ros/humble
-VOLUME /bin
-VOLUME /etc
-VOLUME /home
-VOLUME /lib
-VOLUME /lib64
-VOLUME /mnt
-VOLUME /opt
-VOLUME /root
-VOLUME /run
-VOLUME /sbin
-VOLUME /srv
-VOLUME /sys
-VOLUME /usr
-VOLUME /var
+VOLUME /opt/ros/humble\
+/bin\
+/etc\
+/home\
+/lib\
+/lib64\
+/mnt\
+/opt\
+/root\
+/run\
+/sbin\
+/srv\
+/sys\
+/usr\
+/var

internal/ros2_foxy_Dockerfile

@@ -1,3 +1,11 @@
+FROM nvidia/opengl:1.2-glvnd-devel-ubuntu20.04 as nvidia
+
+FROM osrf/ros:foxy-ros1-bridge
+
+COPY --from=nvidia /usr/local /usr/local
+
+ENV NVIDIA_VISIBLE_DEVICES=all NVIDIA_DRIVER_CAPABILITIES=all
+
 FROM osrf/ros:foxy-ros1-bridge
 
 LABEL maintainer="George Stavrinos <[email protected]>"
@@ -43,18 +51,18 @@ RUN addgroup --gid $GROUP_ID rosez_user && adduser --disabled-password --gecos '
 USER rosez_user
 RUN sudo chown -R rosez_user:rosez_user /home/rosez_user && rosdep update
 
-VOLUME /opt/ros/foxy
-VOLUME /bin
-VOLUME /etc
-VOLUME /home
-VOLUME /lib
-VOLUME /lib64
-VOLUME /mnt
-VOLUME /opt
-VOLUME /root
-VOLUME /run
-VOLUME /sbin
-VOLUME /srv
-VOLUME /sys
-VOLUME /usr
-VOLUME /var
+VOLUME /opt/ros/foxy\
+/bin\
+/etc\
+/home\
+/lib\
+/lib64\
+/mnt\
+/opt\
+/root\
+/run\
+/sbin\
+/srv\
+/sys\
+/usr\
+/var

internal/ros_Dockerfile

@@ -1,3 +1,11 @@
+FROM nvidia/opengl:1.2-glvnd-devel-ubuntu20.04 as nvidia
+
+FROM osrf/ros:noetic-desktop-full
+
+COPY --from=nvidia /usr/local /usr/local
+
+ENV NVIDIA_VISIBLE_DEVICES=all NVIDIA_DRIVER_CAPABILITIES=all
+
 FROM osrf/ros:noetic-desktop-full
 
 LABEL maintainer="George Stavrinos <[email protected]>"
@@ -40,18 +48,18 @@ RUN addgroup --gid $GROUP_ID rosez_user && adduser --disabled-password --gecos '
 USER rosez_user
 RUN sudo chown -R rosez_user:rosez_user /home/rosez_user && rosdep update
 
-VOLUME /opt/ros/noetic
-VOLUME /bin
-VOLUME /etc
-VOLUME /home
-VOLUME /lib
-VOLUME /lib64
-VOLUME /mnt
-VOLUME /opt
-VOLUME /root
-VOLUME /run
-VOLUME /sbin
-VOLUME /srv
-VOLUME /sys
-VOLUME /usr
-VOLUME /var
+VOLUME /opt/ros/noetic\
+/bin\
+/etc\
+/home\
+/lib\
+/lib64\
+/mnt\
+/opt\
+/root\
+/run\
+/sbin\
+/srv\
+/sys\
+/usr\
+/var

internal/ros_melodic_Dockerfile

@@ -1,5 +1,11 @@
+FROM nvidia/opengl:1.2-glvnd-devel-ubuntu18.04 as nvidia
+
 FROM osrf/ros:melodic-desktop-full
 
+COPY --from=nvidia /usr/local /usr/local
+
+ENV NVIDIA_VISIBLE_DEVICES=all NVIDIA_DRIVER_CAPABILITIES=all
+
 LABEL maintainer="George Stavrinos <[email protected]>"
 
 RUN mkdir -p /opt/ros/catkin_ws/src && apt-get update && apt-get full-upgrade -y && DEBIAN_FRONTEND=noninteractive apt-get install -y \
@@ -40,18 +46,18 @@ RUN addgroup --gid $GROUP_ID rosez_user && adduser --disabled-password --gecos '
 USER rosez_user
 RUN sudo chown -R rosez_user:rosez_user /home/rosez_user && rosdep update
 
-VOLUME /opt/ros/melodic
-VOLUME /bin
-VOLUME /etc
-VOLUME /home
-VOLUME /lib
-VOLUME /lib64
-VOLUME /mnt
-VOLUME /opt
-VOLUME /root
-VOLUME /run
-VOLUME /sbin
-VOLUME /srv
-VOLUME /sys
-VOLUME /usr
-VOLUME /var
+VOLUME /opt/ros/melodic\
+/bin\
+/etc\
+/home\
+/lib\
+/lib64\
+/mnt\
+/opt\
+/root\
+/run\
+/sbin\
+/srv\
+/sys\
+/usr\
+/var

internal/rosez_exec.bash

@@ -80,7 +80,7 @@ done
 if [ -z "$gpu_param" ]; then
     if grep -q "nvidia" <<< "$gpu_string" || grep -q "Nvidia" <<< "$gpu_string" || grep -q "NVIDIA" <<< "$gpu_string"
     then
-        gpu_param="--nvidia"
+        gpu_param="--gpus all"
     elif grep -q "intel" <<< "$gpu_string" || grep -q "Intel" <<< "$gpu_string" || grep -q "INTEL" <<< "$gpu_string"
     then
         gpu_param="--device /dev/dri/card0"
@@ -136,32 +136,27 @@ if [ ! -d  $ssh_folder ]; then
     mkdir $ssh_folder
 fi
 intermediate_error_handler $?
-sound="--pulse"
+sound="-v /run/user/$userid/pulse:/run/user/$userid/pulse --device /dev/snd -e PULSE_SERVER=unix:/run/user/$userid/pulse/native -v /run/user/$userid/pulse/native:/run/user/$userid/pulse/native"
 if [ $no_sound -gt 0 ]; then
     sound=""
 fi
-x=""$(rocker --mode dry-run --network host --x11 $sound $gpu_param --volume $rosez_vol-bin:/bin --volume $rosez_vol-etc:/etc/ --volume $rosez_vol-etc:/etc/ --volume $rosez_vol-home:/home/ --volume $rosez_vol-lib:/lib/ --volume $rosez_vol-lib64:/lib64/ --volume $rosez_vol-mnt:/mnt/ --volume $rosez_vol-opt:/opt/ --volume $rosez_vol-root:/root/ --volume $rosez_vol-run:/run/ --volume $rosez_vol-sbin:/sbin/ --volume $rosez_vol-srv:/srv/ --volume $rosez_vol-sys:/sys/ --volume $rosez_vol-usr:/usr --volume $rosez_vol-var:/var --volume $rosez_vol:/opt/ros/$ros --volume $SCRIPT_DIR/../includes/$rosws_file:/opt/ros/$rosws_file $volumes $SCRIPT_DIR/../internal/entrypoint.bash:/home/rosez_user/.bashrc --volume /dev:/dev --volume $bloom_file:/home/rosez_user/.config/bloom --volume $gitconfig_file:/home/rosez_user/.gitconfig --volume $ssh_folder:/home/rosez_user/.ssh --volume $SCRIPT_DIR/supported_versions.txt:/home/rosez_user/supported_versions.txt --volume $SCRIPT_DIR/helpers.bash:/home/rosez_user/helpers.bash --volume /:$HOME/.$rosez_vol -- $ros_image:latest | tail -n 1 | sed -e "s#-v $(pwd)/$rosez_vol#-v $rosez_vol#g")
-echo $x
-intermediate_error_handler $?
-xauthf="$((echo \"$x\") | grep -E -o '/tmp/.docker[a-zA-Z0-9_-]+.xauth' | head -1)"
-intermediate_error_handler $?
+it="-it"
+if [ $non_interactive -gt 0 ]; then
+    it=""
+fi
+userid=$(id -u)
+xauthf="/tmp/.$ros_image-$now.xauth"
 touch $xauthf
 intermediate_error_handler $?
 /bin/bash -c "xauth nlist $DISPLAY | sed -e 's/^..../ffff/' | xauth -f $xauthf nmerge -"
 intermediate_error_handler $?
-cl=""
+x="docker run --rm $it -u $userid --ipc=host --privileged --network host $gpu_param $sound --group-add dialout --group-add video --group-add audio -v $rosez_vol-bin:/bin -v $rosez_vol-etc:/etc/ -v $rosez_vol-etc:/etc/ -v $rosez_vol-home:/home/ -v $rosez_vol-lib:/lib/ -v $rosez_vol-lib64:/lib64/ -v $rosez_vol-mnt:/mnt/ -v $rosez_vol-opt:/opt/ -v $rosez_vol-root:/root/ -v $rosez_vol-run:/run/ -v $rosez_vol-sbin:/sbin/ -v $rosez_vol-srv:/srv/ -v $rosez_vol-sys:/sys/ -v $rosez_vol-usr:/usr -v $rosez_vol-var:/var -v $rosez_vol:/opt/ros/$ros -v $SCRIPT_DIR/../includes/$rosws_file:/opt/ros/$rosws_file $volumes -v $SCRIPT_DIR/entrypoint.bash:/home/rosez_user/.bashrc -v /dev:/dev -v $bloom_file:/home/rosez_user/.config/bloom -v $gitconfig_file:/home/rosez_user/.gitconfig -v $ssh_folder:/home/rosez_user/.ssh -v $SCRIPT_DIR/supported_versions.txt:/home/rosez_user/supported_versions.txt -v $SCRIPT_DIR/helpers.bash:/home/rosez_user/helpers.bash -v /:$HOME/.$rosez_vol -e DISPLAY -e TERM -e QT_X11_NO_MITSHM=1 -e XAUTHORITY=$xauthf -v $xauthf:$xauthf -v /tmp/.X11-unix:/tmp/.X11-unix -v /etc/localtime:/etc/localtime:ro $ros_image:latest"
+intermediate_error_handler $?
 extras="env $ENV LOCKFILE=$lock_file SKIPCOMPILATION=$skip_compilation /bin/bash"
 if [ $# -gt 0 ]; then
     extras=$extras" -c \"source /home/rosez_user/.bashrc && $* \""
 fi
 x="$x $extras"
-userid=$(id -u)
-groupid=$(id -g)
-it="-it"
-if [ $non_interactive -gt 0 ]; then
-    it=""
-fi
-x=${x/docker run --rm -it/docker run --rm $it -u $userid --ipc=host --privileged}
 intermediate_error_handler $?
 printf "Executing:\n---\n$x\n---\n"
 eval "$x"