From 98d19dcff04fc4247b163f935e7922be70ed84a0 Mon Sep 17 00:00:00 2001
From: Sebastian Castro <sebas.a.castro@gmail.com>
Date: Fri, 24 Mar 2023 14:24:43 -0400
Subject: [PATCH 1/2] Add overlay Docker image option

---
 .docker/entrypoint-dev.sh     | 20 ++++++++
 .docker/entrypoint-release.sh | 11 +++++
 Dockerfile                    | 86 +++++++++++++++++++++++++++++++++++
 README.md                     | 30 +++++++++++-
 docker-compose-overlay.yaml   | 68 +++++++++++++++++++++++++++
 docker-compose.yaml           | 13 ------
 6 files changed, 214 insertions(+), 14 deletions(-)
 create mode 100755 .docker/entrypoint-dev.sh
 create mode 100755 .docker/entrypoint-release.sh
 create mode 100644 Dockerfile
 create mode 100644 docker-compose-overlay.yaml

diff --git a/.docker/entrypoint-dev.sh b/.docker/entrypoint-dev.sh
new file mode 100755
index 00000000..3b8ca991
--- /dev/null
+++ b/.docker/entrypoint-dev.sh
@@ -0,0 +1,20 @@
+#!/bin/bash
+
+# Custom entrypoint to start when running a developer container.
+
+set -e
+
+# Allow aliases in noninteractive shells and source common MoveIt Studio aliases
+shopt -s expand_aliases
+source "/common_aliases.sh"
+
+if [[ -f ${CUSTOM_WS}/install/setup.bash ]]
+then
+    echo "Sourcing custom workspace"
+    source "${CUSTOM_WS}/install/setup.bash"
+    /copy_dds_configs.sh
+else
+    echo -e "Custom workspace is not built. Please build it with: \ncolcon build\n"
+fi
+
+exec "$@"
diff --git a/.docker/entrypoint-release.sh b/.docker/entrypoint-release.sh
new file mode 100755
index 00000000..4df17904
--- /dev/null
+++ b/.docker/entrypoint-release.sh
@@ -0,0 +1,11 @@
+#!/bin/bash
+
+# Custom entrypoint to start when running a release image.
+
+set -e
+
+source "${CUSTOM_WS}/install/setup.bash"
+
+/copy_dds_configs.sh
+
+exec "$@"
diff --git a/Dockerfile b/Dockerfile
new file mode 100644
index 00000000..addd403f
--- /dev/null
+++ b/Dockerfile
@@ -0,0 +1,86 @@
+# Docker container image build for running MoveIt Studio with
+# a custom overlay image
+#
+# Example build command (with defaults):
+#
+# docker build -f .docker/Dockerfile .
+#
+
+# Specify the MoveIt Studio release to build on top of. See,
+# https://hub.docker.com/r/picknikciuser/moveit-studio-binaries/tags
+ARG MOVEIT_STUDIO_BASE_IMAGE
+
+#####################################################
+# Starting from the specified MoveIt Studio release #
+#####################################################
+# The image tag is specified in the argument itself.
+# hadolint ignore=DL3006
+FROM ${MOVEIT_STUDIO_BASE_IMAGE} as base
+
+# The location of the user's custom workspace inside the container
+ARG CUSTOM_WS=/opt/custom_ws
+ENV CUSTOM_WS $CUSTOM_WS
+
+# Copy site configuration packages and and dependencies
+RUN mkdir -p ${CUSTOM_WS}/src
+COPY ./src $CUSTOM_WS/src
+WORKDIR $CUSTOM_WS
+
+# Install additional ROS dependencies
+# NOTE: The "OVERLAY_WS" contains MoveIt Studio binary packages and the source file.
+# hadolint ignore=SC1091
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,target=/var/lib/apt,sharing=locked \
+    . "${OVERLAY_WS}/install/setup.sh" && \
+    apt-get update && \
+    rosdep install -q -y \
+      --from-paths src \
+      --ignore-src
+
+#################################################
+# Target for compiled, deployable release image #
+#################################################
+FROM base as release
+
+WORKDIR $CUSTOM_WS
+
+# Compile the workspace
+# hadolint ignore=SC1091
+RUN --mount=type=cache,target=/root/.ccache \
+    . "${OVERLAY_WS}/install/setup.sh" && \
+    colcon build
+
+# Add the custom entrypoint
+COPY .docker/entrypoint-release.sh /entrypoint.sh
+ENTRYPOINT ["/entrypoint.sh"]
+CMD ["/usr/bin/bash"]
+
+###################################################################
+# Target for the developer build which does not compile any code. #
+###################################################################
+# Expected to mount workspace and compile/test it
+# inside of the resulting container.
+FROM base as dev
+
+# The location of the user's workspace inside the container
+ARG CUSTOM_WS=/opt/custom_ws
+ENV CUSTOM_WS $CUSTOM_WS
+WORKDIR $CUSTOM_WS
+
+# Install any additional packages for development work
+# hadolint ignore=DL3008
+RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
+    --mount=type=cache,target=/var/lib/apt,sharing=locked \
+    apt-get update && \
+    apt-get install -y --no-install-recommends \
+    less \
+    gdb \
+    gdbserver \
+    ros-humble-rclcpp-dbgsym
+
+# Add the developer entrypoint
+COPY .docker/entrypoint-dev.sh /entrypoint.sh
+ENTRYPOINT ["/entrypoint.sh"]
+RUN echo "source /entrypoint.sh" >> ~/.bashrc && \
+    echo "set +e" >> ~/.bashrc
+CMD ["/usr/bin/bash"]
diff --git a/README.md b/README.md
index a0b05b3a..59ad12ac 100644
--- a/README.md
+++ b/README.md
@@ -12,4 +12,32 @@ Replace ``ur10`` with the model of your choice ``[ur3,ur3e,ur5,ur5e,ur10,ur10e,u
 
 ## Start MoveIt Studio
 
-``docker compose up``
\ No newline at end of file
+``docker compose up``
+
+## Using a custom Docker overlay image
+
+### Release image
+
+To build:
+
+``docker compose -f docker-compose-overlay.yaml build``
+
+To start:
+
+``docker compose -f docker-compose-overlay.yaml up``
+
+### Developer container
+
+We use Docker profiles to have separate configuration for developers.
+
+To build:
+
+``docker compose -f docker-compose-overlay.yaml build dev``
+
+To start:
+
+``docker compose -f docker-compose-overlay.yaml up dev``
+
+And in a new Terminal, you can access a dev shell:
+
+``docker compose exec -it dev bash``
diff --git a/docker-compose-overlay.yaml b/docker-compose-overlay.yaml
new file mode 100644
index 00000000..2580394d
--- /dev/null
+++ b/docker-compose-overlay.yaml
@@ -0,0 +1,68 @@
+version: "3.9"
+services:
+  base:
+    extends:
+      file: docker-compose.yaml
+      service: base
+    # Optionally allow building this service from source with `docker compose build`
+    build:
+      context: .
+      target: release
+      args:
+        MOVEIT_STUDIO_BASE_IMAGE: ghcr.io/picknikrobotics/moveit-studio:${STUDIO_DOCKER_TAG:-main}
+    command: sleep infinity
+
+  # Extend all the services from the base image
+  workspace_builder:
+    extends:
+      file: docker-compose.yaml
+      service: workspace_builder
+  workspace_test:
+    extends:
+      file: docker-compose.yaml
+      service: workspace_test
+  agent:
+    extends:
+      file: docker-compose.yaml
+      service: agent
+  bridge:
+    extends:
+      file: docker-compose.yaml
+      service: bridge
+  rest_api:
+    extends:
+      file: docker-compose.yaml
+      service: rest_api
+  drivers:
+    extends:
+      file: docker-compose.yaml
+      service: drivers
+
+  #####################################
+  # Developer specific configuration
+  # Uses the "dev" profile
+  #####################################
+  dev:
+    extends: base
+    build:
+      target: dev
+    # This image deliberately has no user prefix because it should not be pushed!
+    stdin_open: true
+    tty: true
+    privileged: true
+    # Allows use of gdbserver
+    security_opt:
+      - seccomp:unconfined
+    volumes:
+      - ${HOME}/.ros/log_moveit_studio:/root/.ros/log:/root/.ros/log
+      # Mount source code
+      - ./src/:/opt/custom_ws/src/:rw
+      # Mount anonymous volumes to build cache and artifacts
+      - /opt/custom_ws/build
+      - /opt/custom_ws/install
+      - /opt/custom_ws/log
+      - /root/.ccache
+      # Allow access to host hardware e.g. RealSense cameras
+      - /dev:/dev
+    command: sleep infinity
+    profiles: ["dev"]
diff --git a/docker-compose.yaml b/docker-compose.yaml
index 3e708e1a..1906bdd5 100644
--- a/docker-compose.yaml
+++ b/docker-compose.yaml
@@ -62,14 +62,11 @@ services:
       # Allow the user to run graphical programs from within the docker container.
       - /tmp/.X11-unix:/tmp/.X11-unix:ro
       - ${XAUTHORITY:-$HOME/.Xauthority}:/root/.Xauthority
-      # Persist Ignition model download cache
-      - ignition_resources:/root/.ignition/
       # Mount the host's DDS config(s) so we can talk to user's ROS tooling
       - ${CYCLONEDDS_URI:-/dev/null}:/root/.ros/cyclonedds_host.xml
       - ${FASTRTPS_DEFAULT_PROFILES_FILE:-/dev/null}:/root/.ros/fastdds_host.xml
 
   workspace_builder:
-    container_name: "moveit_studio_workspace_builder"
     extends: base
     depends_on:
       base:
@@ -77,7 +74,6 @@ services:
     command: bash -c "source /build_user_ws.sh"
 
   workspace_test:
-    container_name: "moveit_studio_workspace_test"
     extends: base
     depends_on:
       workspace_builder:
@@ -88,7 +84,6 @@ services:
 
   # Starts the MoveIt Studio Agent
   agent:
-    container_name: "moveit_studio"
     extends: base
     privileged: true
     device_cgroup_rules:
@@ -109,7 +104,6 @@ services:
 
   # Starts the Bridge between the Agent and the Web UI
   bridge:
-    container_name: "moveit_studio_bridge"
     extends: base
     depends_on:
       workspace_builder:
@@ -121,7 +115,6 @@ services:
 
   # Starts the frontend-agent
   frontend_agent:
-    container_name: "moveit_studio_frontend"
     extends: base
     depends_on:
       workspace_builder:
@@ -130,7 +123,6 @@ services:
 
   # Starts the REST API for the Web UI
   rest_api:
-    container_name: "moveit_studio_rest_api"
     extends: base
     environment:
       - LOG_LEVEL=DEBUG
@@ -146,7 +138,6 @@ services:
 
   # Starts the robot drivers
   drivers:
-    container_name: "moveit_studio_drivers"
     extends: base
     privileged: true
     devices:
@@ -158,7 +149,6 @@ services:
     command: bash -c "ros2 launch moveit_studio_agent robot_drivers_wrapper.launch.py 2>&1 | tee ~/.ros/log/robot_0_0.log"
 
   web_ui:
-    container_name: "moveit_studio_web_ui"
     image: ghcr.io/picknikrobotics/moveit-studio-frontend:${STUDIO_DOCKER_TAG:-main}
     ports:
       - "80:80"
@@ -170,6 +160,3 @@ services:
     depends_on:
       base:
         condition: service_completed_successfully
-
-volumes:
-  ignition_resources:

From 3280636c2b1ebf5623efe404f997d520aa5e49bd Mon Sep 17 00:00:00 2001
From: Sebastian Castro <sebas.a.castro@gmail.com>
Date: Fri, 24 Mar 2023 16:47:44 -0400
Subject: [PATCH 2/2] Erik PR comments

---
 .docker/entrypoint-dev.sh     | 10 +++++++---
 .docker/entrypoint-release.sh |  3 ++-
 Dockerfile                    | 22 +++++++++++-----------
 docker-compose-overlay.yaml   |  4 ++--
 4 files changed, 22 insertions(+), 17 deletions(-)

diff --git a/.docker/entrypoint-dev.sh b/.docker/entrypoint-dev.sh
index 3b8ca991..fca194ec 100755
--- a/.docker/entrypoint-dev.sh
+++ b/.docker/entrypoint-dev.sh
@@ -8,13 +8,17 @@ set -e
 shopt -s expand_aliases
 source "/common_aliases.sh"
 
-if [[ -f ${CUSTOM_WS}/install/setup.bash ]]
+# If the custom workspace has been compiled we will source the setup.bash file.
+# Otherwise it is up to the developer to compile and source it in their session.
+if [[ -f ${MOVEIT_STUDIO_CUSTOM_WS}/install/setup.bash ]]
 then
     echo "Sourcing custom workspace"
-    source "${CUSTOM_WS}/install/setup.bash"
-    /copy_dds_configs.sh
+    source "${MOVEIT_STUDIO_CUSTOM_WS}/install/setup.bash"
 else
     echo -e "Custom workspace is not built. Please build it with: \ncolcon build\n"
 fi
 
+# Copies a DDS configuration file from the user's environment, if available.
+/copy_dds_configs.sh
+
 exec "$@"
diff --git a/.docker/entrypoint-release.sh b/.docker/entrypoint-release.sh
index 4df17904..a14cc8e5 100755
--- a/.docker/entrypoint-release.sh
+++ b/.docker/entrypoint-release.sh
@@ -4,8 +4,9 @@
 
 set -e
 
-source "${CUSTOM_WS}/install/setup.bash"
+source "${MOVEIT_STUDIO_CUSTOM_WS}/install/setup.bash"
 
+# Copies a DDS configuration file from the user's environment, if available.
 /copy_dds_configs.sh
 
 exec "$@"
diff --git a/Dockerfile b/Dockerfile
index addd403f..612d7fb6 100644
--- a/Dockerfile
+++ b/Dockerfile
@@ -18,13 +18,13 @@ ARG MOVEIT_STUDIO_BASE_IMAGE
 FROM ${MOVEIT_STUDIO_BASE_IMAGE} as base
 
 # The location of the user's custom workspace inside the container
-ARG CUSTOM_WS=/opt/custom_ws
-ENV CUSTOM_WS $CUSTOM_WS
+ARG MOVEIT_STUDIO_CUSTOM_WS=/opt/custom_ws
+ENV MOVEIT_STUDIO_CUSTOM_WS $MOVEIT_STUDIO_CUSTOM_WS
 
 # Copy site configuration packages and and dependencies
-RUN mkdir -p ${CUSTOM_WS}/src
-COPY ./src $CUSTOM_WS/src
-WORKDIR $CUSTOM_WS
+RUN mkdir -p ${MOVEIT_STUDIO_CUSTOM_WS}/src
+COPY ./src $MOVEIT_STUDIO_CUSTOM_WS/src
+WORKDIR $MOVEIT_STUDIO_CUSTOM_WS
 
 # Install additional ROS dependencies
 # NOTE: The "OVERLAY_WS" contains MoveIt Studio binary packages and the source file.
@@ -40,9 +40,9 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
 #################################################
 # Target for compiled, deployable release image #
 #################################################
-FROM base as release
+FROM base as moveit-studio-custom-release
 
-WORKDIR $CUSTOM_WS
+WORKDIR $MOVEIT_STUDIO_CUSTOM_WS
 
 # Compile the workspace
 # hadolint ignore=SC1091
@@ -60,12 +60,12 @@ CMD ["/usr/bin/bash"]
 ###################################################################
 # Expected to mount workspace and compile/test it
 # inside of the resulting container.
-FROM base as dev
+FROM base as moveit-studio-custom-dev
 
 # The location of the user's workspace inside the container
-ARG CUSTOM_WS=/opt/custom_ws
-ENV CUSTOM_WS $CUSTOM_WS
-WORKDIR $CUSTOM_WS
+ARG MOVEIT_STUDIO_CUSTOM_WS=/opt/custom_ws
+ENV MOVEIT_STUDIO_CUSTOM_WS $MOVEIT_STUDIO_CUSTOM_WS
+WORKDIR $MOVEIT_STUDIO_CUSTOM_WS
 
 # Install any additional packages for development work
 # hadolint ignore=DL3008
diff --git a/docker-compose-overlay.yaml b/docker-compose-overlay.yaml
index 2580394d..f4ea6022 100644
--- a/docker-compose-overlay.yaml
+++ b/docker-compose-overlay.yaml
@@ -7,7 +7,7 @@ services:
     # Optionally allow building this service from source with `docker compose build`
     build:
       context: .
-      target: release
+      target: moveit-studio-custom-release
       args:
         MOVEIT_STUDIO_BASE_IMAGE: ghcr.io/picknikrobotics/moveit-studio:${STUDIO_DOCKER_TAG:-main}
     command: sleep infinity
@@ -45,7 +45,7 @@ services:
   dev:
     extends: base
     build:
-      target: dev
+      target: moveit-studio-custom-dev
     # This image deliberately has no user prefix because it should not be pushed!
     stdin_open: true
     tty: true