ROS2 Middleware Settings

.env.example

@@ -1,9 +1,13 @@
 # DISPLAY
-DISPLAY=${DISPLAY}
+DISPLAY=${DISPLAY:-=:0}
+
+# AUDIO
+AUDIO_CARD=0
 
 # CUDA
 NVIDIA_VISIBLE_DEVICES=all
 NVIDIA_DRIVER_CAPABILITIES=all
 
 # ROS
-ROS_DOMAIN_ID=0
+ROS_DOMAIN_ID=99
+RMW_IMPLEMENTATION=rmw_fastrtps_cpp

.github/workflows/docker-publish.yaml

@@ -0,0 +1,82 @@
+name: Build and Push Docker Images
+
+on:
+  push:
+    branches:
+      - '*'
+    tags:
+      - '*'
+
+jobs:
+  build-and-push:
+    name: Build and Push to GHCR
+    runs-on: ubuntu-latest
+
+    permissions:
+      contents: read
+      packages: write
+
+    strategy:
+      matrix:
+        component: [haru-os, haru-simulator]
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+
+      - name: Log in to GitHub Container Registry
+        uses: docker/login-action@v3
+        with:
+          registry: ghcr.io
+          username: ${{ github.actor }}
+          password: ${{ secrets.CD_TOKEN }}
+
+      - name: Set variables
+        id: vars
+        run: |
+          OWNER=$(echo "${{ github.repository_owner }}" | tr '[:upper:]' '[:lower:]')
+
+          # Tag with branch name or GitHub tag
+          if [[ "${GITHUB_REF}" == refs/heads/* ]]; then
+            REF_TYPE="branch"
+            TAG=$(echo "${GITHUB_REF#refs/heads/}" | tr '/' '-' | tr '[:upper:]' '[:lower:]')
+          elif [[ "${GITHUB_REF}" == refs/tags/* ]]; then
+            REF_TYPE="tag"
+            TAG=$(echo "${GITHUB_REF#refs/tags/}" | tr '/' '-' | tr '[:upper:]' '[:lower:]')
+          else
+            echo "Unsupported ref: ${GITHUB_REF}"
+            exit 1
+          fi
+
+          echo "owner=$OWNER" >> $GITHUB_OUTPUT
+          echo "ref_type=$REF_TYPE" >> $GITHUB_OUTPUT
+          echo "tag=$TAG" >> $GITHUB_OUTPUT
+
+      - name: Build and push ${{ matrix.component }} image
+        uses: docker/build-push-action@v5
+        with:
+          context: ./${{ matrix.component }}
+          file: ./${{ matrix.component }}/Dockerfile
+          push: true
+          tags: |
+            ghcr.io/${{ steps.vars.outputs.owner }}/${{ matrix.component }}:${{ steps.vars.outputs.tag }}
+          build-args: |
+            CLONE_METHOD=https
+            BASE_IMAGE=ghcr.io/haru-project/haru-os:${{ steps.vars.outputs.tag }}
+          secrets: |
+            github_token=${{ secrets.CD_TOKEN }}
+
+      - name: Tag and push :latest if master
+        if: steps.vars.outputs.ref_type == 'branch' && steps.vars.outputs.tag == 'master'
+        uses: docker/build-push-action@v5
+        with:
+          context: ./${{ matrix.component }}
+          file: ./${{ matrix.component }}/Dockerfile
+          push: true
+          tags: |
+            ghcr.io/${{ steps.vars.outputs.owner }}/${{ matrix.component }}:latest
+          build-args: |
+            CLONE_METHOD=https
+            BASE_IMAGE=ghcr.io/haru-project/haru-os:latest
+          secrets: |
+            github_token=${{ secrets.CD_TOKEN }}

README.md

@@ -7,33 +7,49 @@ Install the [Docker Engine](https://docs.docker.com/engine/install/ubuntu/) and
 For CUDA support, also install the [NVIDIA Container Toolkit](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html#installing-the-nvidia-container-toolkit).
 
 ## Setup
-Set ROS variable with:
-```
-export ROS_DOMAIN_ID=xxx
-```
-
 Allow Docker GUI access:
 ```
-xhost +local:root
+xhost +local:docker
 ```
 
 ## Images and Applications
 
 ### Haru-OS
 ```
-docker build --rm -t haru/haru-os:ros2 -f haru-os/Dockerfile ./haru-os
+docker build --rm -t haru/haru-os:local -f haru-os/Dockerfile ./haru-os
 ```
 
 Run:
 ```
-docker run -it --rm --name haru-os --gpus all \
-  --network host --ipc host \
+docker run -it --rm --name haru-os \
+  --network host --ipc host --gpus all \
+  --env-file .env.example \
   -v /tmp/.X11-unix:/tmp/.X11-unix \
-  -e DISPLAY=${DISPLAY} -e ROS_DOMAIN_ID=${ROS_DOMAIN_ID} \
-  haru/haru-os:ros2
+  haru/haru-os:local
 ```
 
 Or compose: (recommended)
 ```
-docker compose -f docker-compose-haru.yaml --env-file .env up
+docker compose -f docker-compose-haru.yaml --env-file .env.example up
+```
+
+### Haru-Simulator
+```
+docker build --rm --ssh default=$SSH_AUTH_SOCK -t haru/haru-simulator:local -f haru-simulator/Dockerfile ./haru-simulator
+# or docker build --rm --secret id=github_token,src=$GITHUB_TOKEN -t haru/haru-simulator:local -f haru-simulator/Dockerfile ./haru-simulator
+```
+
+Run:
+```
+docker run -it --rm --name haru-os \
+  --network host --ipc host --gpus all \
+  --env-file .env.example \
+  --device /dev/snd \
+  -v /tmp/.X11-unix:/tmp/.X11-unix \
+  haru/haru-simulator:local
+```
+
+Or compose: (recommended)
 ```
+docker compose -f docker-compose-simulator.yaml --env-file .env.example up
+```

docker-compose-haru.yaml

@@ -1,33 +1,42 @@
-name: haru
+name: haru-os
 
 services:
+  pub-root:
+    image: haru/haru-os:local
+    command: ["ros2", "topic", "pub", "/root", "std_msgs/msg/String", "{data: Hello from root}"]
+    env_file: .env.example
+    network_mode: host
+    ipc: host
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix
+
+  pub-user:
+    image: haru/haru-os:local
+    user: 1000:1000
+    command: ["ros2", "topic", "pub", "/user", "std_msgs/msg/String", "{data: Hello from user}"]
+    env_file: .env.example
+    network_mode: host
+    ipc: host
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix
 
-  test-publisher:
-    image: haru/haru-os:ros2
-    entrypoint: ["/entrypoint.sh"]
-    command: ["ros2", "topic", "pub", "-r", "1", "/hello", "std_msgs/msg/String", "data: 'Hello from Docker'"]
-    environment:
-      - DISPLAY=${DISPLAY}
-      - ROS_DOMAIN_ID=${ROS_DOMAIN_ID}
+  echo-root:
+    image: haru/haru-os:local
+    command: ["ros2", "topic", "echo", "/user"]
+    env_file: .env.example
     network_mode: host
     ipc: host
-    devices:
-      - /dev/snd
-      - /dev/bus/usb
     volumes:
       - /tmp/.X11-unix:/tmp/.X11-unix
+    restart: on-failure
 
-  rqt:
-    image: haru/haru-os:ros2
-    entrypoint: ["/entrypoint.sh"]
-    command: ["rqt"]
-    environment:
-      - DISPLAY=${DISPLAY}
-      - ROS_DOMAIN_ID=${ROS_DOMAIN_ID}
+  echo-user:
+    image: haru/haru-os:local
+    user: 1000:1000
+    command: ["ros2", "topic", "echo", "/root"]
+    env_file: .env.example
     network_mode: host
     ipc: host
-    devices:
-      - /dev/snd
-      - /dev/bus/usb
     volumes:
       - /tmp/.X11-unix:/tmp/.X11-unix
+    restart: on-failure

docker-compose-simulator.yaml

@@ -1,84 +1,36 @@
-name: simulator
+name: haru-simulator
 
 services:
-  ros-simulator:
-    image: haru-simulator
-    entrypoint: [ "/entrypoint.sh" ]
-    command: [ "/bin/bash", "-c", "roslaunch haru_unity unity_app_launcher.launch && tail -f /dev/null" ]
-    environment:
-      - DISPLAY=${DISPLAY}
-      - NVIDIA_DRIVER_CAPABILITIES=all
+  unity-app:
+    image: haru/haru-simulator:local
+    command: ["/bin/bash", "-c", "export ROS_IP=$(hostname -I | awk '{print $1}') && ros2 launch haru_unity unity_app_launcher_launch.py && tail -f /dev/null"]
+    env_file: .env.example
     network_mode: host
+    ipc: host
     devices:
       - /dev/snd
-      - /dev/bus/usb
     volumes:
       - /tmp/.X11-unix:/tmp/.X11-unix
-    runtime: nvidia
-
-  ros-publisher:
-    image: haru-os
-    entrypoint: [ "/entrypoint.sh" ]
-    command: [ "rostopic", "pub", "/hello", "std_msgs/String", "data: 'Hello from Docker'", "-r", "1" ]
-    environment:
-      - DISPLAY=${DISPLAY}
-    network_mode: host
-    devices:
-      - /dev/snd
-      - /dev/bus/usb
-    volumes:
-      - /tmp/.X11-unix:/tmp/.X11-unix
-
-  ros-publisher-cuda:
-    image: haru-os-cuda
-    entrypoint: [ "/entrypoint.sh" ]
-    command: [ "rostopic", "pub", "/hello_cuda", "std_msgs/String", "data: 'Hello from Docker with CUDA'", "-r", "1" ]
-    environment:
-      - DISPLAY=${DISPLAY}
+    deploy:
+      resources:
+        reservations:
+          devices:
+            - driver: nvidia
+              count: all
+              capabilities: [gpu]
+
+  web-server:
+    image: haru/haru-simulator:local
+    working_dir: /app/haru2_web/
+    command: ["/bin/bash", "-c", "cd haru_web && \
+      ../.venv/bin/python3 -m streamlit run Home.py \
+        --server.port 7000 \
+        --server.address 0.0.0.0 \
+        --server.headless true \
+        --server.baseUrlPath '/haru_web'",
+    ]
+    env_file: .env.example
     network_mode: host
-    devices:
-      - /dev/snd
-      - /dev/bus/usb
-    volumes:
-      - /tmp/.X11-unix:/tmp/.X11-unix
-    runtime: nvidia
-
-  ros-listener:
-    image: haru-os
-    entrypoint: [ "/entrypoint.sh" ]
-    command: [ "rostopic", "echo", "/hello" ]
-    environment:
-      - DISPLAY=${DISPLAY}
-    network_mode: host
-    devices:
-      - /dev/snd
-      - /dev/bus/usb
-    volumes:
-      - /tmp/.X11-unix:/tmp/.X11-unix
-
-  ros-listener-cuda:
-    image: haru-os-cuda
-    entrypoint: [ "/entrypoint.sh" ]
-    command: [ "rostopic", "echo", "/hello_cuda" ]
-    environment:
-      - DISPLAY=${DISPLAY}
-    network_mode: host
-    devices:
-      - /dev/snd
-      - /dev/bus/usb
-    volumes:
-      - /tmp/.X11-unix:/tmp/.X11-unix
-    runtime: nvidia
-
-  ros-rqt:
-    image: haru-os
-    entrypoint: [ "/entrypoint.sh" ]
-    command: [ "rqt" ]
-    environment:
-      - DISPLAY=${DISPLAY}
-    network_mode: host
-    devices:
-      - /dev/snd
-      - /dev/bus/usb
+    ipc: host
     volumes:
       - /tmp/.X11-unix:/tmp/.X11-unix