Sample docker project for humble/jazzy supervisor runtime containers

README.md

@@ -137,6 +137,54 @@ You can then download and run the script:
 ```bash
 bash <(curl https://raw.githubusercontent.com/3LawsRobotics/3laws/master/install_ros2.sh)
 ```
+## Docker runtime environment
+
+A sample Docker project is provided to assist users who prefer to install and execute Supervisor within a controlled environment. The project is not designed to meet any production-grade requirements, but rather to provide a starting point for further development.
+
+From the root directory of this project, run `./docker/build_docker.bash <ROS_DISTRO>` to create the runtime Docker image. Replace `<ROS_DISTRO>` with either `humble` or `jazzy`. When building is complete, run `./docker/run_docker.bash <ROS_DISTRO>` to start the container.
+
+The start script creates a docker managed volume mounted at `~/.3laws`. The volume is used to store Supervisor configurations so that all savings and progresses persists across restarts of the container.
+
+In alternative to manually starting the container via the provided script, it is possible to call the script directly from a ROS 2 launch file:
+
+```python
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import ExecuteProcess
+
+
+def generate_launch_description():
+    DOCKER_RUN_SCRIPT = os.path.join(
+        <path/to/3laws/docker>,
+        "run_docker.bash",
+    )
+
+    launchdesc = LaunchDescription(
+        [
+            ExecuteProcess(
+                cmd=[DOCKER_RUN_SCRIPT],
+                shell=True,
+                output="screen",
+                name="lll_supervisor_docker",
+            )
+        ]
+    )
+
+    return launchdesc
+
+```
+
+
+IMPORTANT: When running the container for the first time, the Supervisor node will fail as no configuration file exists yet. Configure Supervisor through the Control Panel and restart the container.
+
+When running the provided container, a `rosbridge_websocket` node and 3Laws Control Panel are started by the `entrypoint.sh` in the background inside dedicated `screen` sessions. At this point, you can follow the configuration steps described in the [Official Documentation](https://docs.3laws.io/en/latest/).
+
+Once the Supervisor configuration is complete, you can start the Supervisor from within the container via
+```bash
+ros2 launch lll_supervisor supervisor.launch.py
+```
 
 ## Repo maintainer
 

docker/Dockerfile

@@ -0,0 +1,31 @@
+ARG ROS_DISTRO=humble
+ARG BASE_IMAGE=ros:$ROS_DISTRO-ros-core
+FROM $BASE_IMAGE
+
+## Sup options
+ARG ASSET_ID
+ARG ASSET_NAME
+
+## Install some packages
+RUN apt-get update && \
+    apt-get install -y --no-install-recommends \
+    sudo \
+    software-properties-common \
+    screen \
+    vim \
+    ros-$ROS_DISTRO-rosbridge-server
+
+## Get Supervisor
+ENV GH_REPO="https://api.github.com/repos/3LawsRobotics/3laws"
+
+## Install Supervisor
+WORKDIR /tmp
+ARG CURL_ARGS="-LJO#"
+ARG GH_ASSET="$GH_REPO/releases/assets/$ASSET_ID"
+RUN curl $CURL_ARGS -s -H 'Accept: application/octet-stream' "$GH_ASSET"
+RUN sudo apt install -f ./"$ASSET_NAME" -y --no-install-recommends
+
+## Add entrypoint
+WORKDIR /
+COPY entrypoint.sh /root/entrypoint.sh
+ENTRYPOINT ["/root/entrypoint.sh"]

docker/build_docker.bash

@@ -0,0 +1,34 @@
+#!/bin/bash
+
+DOCKER_IMAGE_NAME="lll-supervisor-runtime"
+
+# Get ROS_DISTRO from first argument, error if not provided
+if [ -z "$1" ]; then
+  echo "Usage: $0 <ROS_DISTRO>. Specify jazzy|humble"
+  exit 1
+fi
+
+# Check if provided ROS_DISTRO is either "jazzy" or "humble"
+if [ "$1" != "jazzy" ] && [ "$1" != "humble" ]; then
+  echo "Error - supported ROS_DISTRO values are: jazzy|humble"
+  exit 1
+fi
+TAG=$1
+
+GH_REPO="https://api.github.com/repos/3LawsRobotics/3laws/releases/latest"
+PACKAGE_NAME="lll-supervisor-full-${TAG}"
+REGEX_QUERY="${PACKAGE_NAME}_[0-9]\+\.[0-9]\+\.[0-9]\+-[0-9]\+_amd64_ubuntu[0-9]\+.[0-9]\+"
+
+# Read asset tags.
+RESPONSE=$(curl -s -H "application/vnd.github+json" $GH_REPO)
+ASSET_NAME=$(echo "$RESPONSE" | grep -o "name.:.\+${REGEX_QUERY}.deb" | cut -d ":" -f2- | cut -d "\"" -f2-)
+ASSET_ID=$(echo "$RESPONSE" | grep -C3 "name.:.\+$REGEX_QUERY" | grep -w id | tr : = | tr -cd '[[:alnum:]]=' | cut -d'=' -f2-)
+
+echo "Building Docker image $DOCKER_IMAGE_NAME:$TAG with asset $ASSET_NAME (id: $ASSET_ID)"
+
+docker build --rm \
+  --build-arg ROS_DISTRO="$TAG" \
+  --build-arg ASSET_ID="$ASSET_ID" \
+  --build-arg ASSET_NAME="$ASSET_NAME" \
+  -t "$DOCKER_IMAGE_NAME:$TAG" \
+  -f "$(pwd)/Dockerfile" .

docker/entrypoint.sh

@@ -0,0 +1,9 @@
+#!/bin/bash
+
+set -e # Exit immediately if a command exits with a non-zero status
+
+screen -dmS lll_rosbridge bash -lc "source /opt/ros/$ROS_DISTRO/setup.bash && exec ros2 launch rosbridge_server rosbridge_websocket_launch.xml port:=9091"
+
+screen -dmS lll_control_panel /opt/3laws/control_panel/control-panel-backend 8000 /opt/3laws/control_panel/build/
+
+source /opt/ros/humble/setup.bash && exec "$@"

docker/run_docker.bash

@@ -0,0 +1,35 @@
+#!/bin/bash
+
+set -e # Exit on error, print commands, and treat unset variables as an error
+
+TAG="$1"
+IMAGE_NAME="lll-supervisor-runtime"
+
+# Get all tags for the image
+tags=$(docker images --format "{{.Repository}}:{{.Tag}}" | grep "^${IMAGE_NAME}:" | cut -d: -f2)
+
+# Check if TAG exists in tags
+if echo "$tags" | grep -q "^${TAG}$"; then
+    IMAGE_TAG=$TAG
+else
+    echo "Selected tag '$TAG' not found. Available tags are:"
+    echo "$tags"
+    exit 1
+fi
+
+DOCKER_HOME=/
+DOCKER_LLL_CONFIG_DIR="$DOCKER_HOME/.3laws/config"
+IMAGE_NAME="lll-supervisor-runtime"
+
+# Check if Docker image exists
+if ! docker image inspect $IMAGE_NAME:$IMAGE_TAG >/dev/null 2>&1; then
+  echo "Docker image $IMAGE_NAME:$IMAGE_TAG not found. Run build_docker.bash first to create image."
+  exit 1
+fi
+
+docker volume create lll_supervisor_config
+docker run --privileged --rm -it \
+  --name lll-supervisor \
+  --net=host \
+  -v lll_supervisor_config:/$DOCKER_LLL_CONFIG_DIR/ \
+  "$IMAGE_NAME":"$IMAGE_TAG" bash