Fixes repeated Docker container names (#481)

# Description As of [docker compose 2.24.7](https://docs.docker.com/compose/release-notes/#2247), using the same name between containers is disallowed even if the profiles that launch them are mutually exclusive. This PR alters `docker-compose.yaml` such that containers will now be appended with their image extension (orbit-base, orbit-ros2). I've also added `resolve_image_extension` to the logic in `./container.sh` in order to handle the image_extension arguments. Fixes Public[ #325](#325) ## Type of change - Bug fix (non-breaking change which fixes an issue) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./orbit.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have run all the tests with `./orbit.sh --test` and they pass - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there  --------- Signed-off-by: Hunter Hansen <[email protected]> Co-authored-by: James Smith <[email protected]>
isaac-sim · Mar 28, 2024 · 0865cf6 · 0865cf6
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diff --git a/docker/cluster/run_singularity.sh b/docker/cluster/run_singularity.sh
@@ -34,7 +34,7 @@ setup_directories() {
 SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
 
 # load variables to set the orbit path on the cluster
-source $SCRIPT_DIR/../.env
+source $SCRIPT_DIR/../.env.base
 
 # make sure that all directories exists in cache directory
 setup_directories

diff --git a/docker/container.sh b/docker/container.sh
@@ -60,6 +60,38 @@ check_docker_version() {
     fi
 }
 
+# Produces container_profile, add_profiles, and add_envs from the image_extension arg
+resolve_image_extension() {
+    # If no profile was passed, we default to 'base'
+    container_profile=${1:-"base"}
+
+    # We also default to 'base' if "orbit" is passed
+    if [ "$1" == "orbit" ]; then
+        container_profile="base"
+    fi
+
+    add_profiles="--profile $container_profile"
+    # We will need .env.base regardless of profile
+    add_envs="--env-file .env.base"
+    # The second argument is interpreted as the profile to use.
+    # We will select the base profile by default.
+    # This will also determine the .env file that is loaded
+    if [ "$container_profile" != "base" ]; then
+        # We have to load multiple .env files here in order to combine
+        # them for the args from base required for extensions, (i.e. DOCKER_USER_HOME)
+        add_envs="$add_envs --env-file .env.$container_profile"
+    fi
+}
+
+# Prints a warning message and exits if the passed container is not running
+is_container_running() {
+    container_name="$1"
+    if [ "$( docker container inspect -f '{{.State.Status}}' $container_name 2> /dev/null)" != "running" ]; then
+        echo "[Error] The '$container_name' container is not running!" >&2;
+        exit 1
+    fi
+}
+
 #==
 # Main
 #==
@@ -79,24 +111,12 @@ fi
 
 # parse arguments
 mode="$1"
+resolve_image_extension $2
 # resolve mode
 case $mode in
     start)
-        echo "[INFO] Building the docker image and starting the container in the background..."
+        echo "[INFO] Building the docker image and starting the container orbit-$container_profile in the background..."
         pushd ${SCRIPT_DIR} > /dev/null 2>&1
-        # The second argument is interpreted as the profile to use.
-        # We will select the base profile by default.
-        # This will also determine the .env file that is loaded
-        if [ -z "$2" ]; then
-            add_profiles="--profile base"
-            add_envs="--env-file .env.base"
-        else
-            profile="$2"
-            add_profiles="--profile $profile"
-            # We have to load multiple .env files here in order to combine
-            # them for the args from base required for extensions, (i.e. DOCKER_USER_HOME)
-            add_envs="--env-file .env.base --env-file .env.$profile"
-        fi
         # We have to build the base image as a separate step,
         # in case we are building a profile which depends
         # upon
@@ -105,18 +125,17 @@ case $mode in
         popd > /dev/null 2>&1
         ;;
     enter)
-        echo "[INFO] Entering the existing 'orbit' container in a bash session..."
+        # Check that desired container is running, exit if it isn't
+        is_container_running orbit-$container_profile
+        echo "[INFO] Entering the existing 'orbit-$container_profile' container in a bash session..."
         pushd ${SCRIPT_DIR} > /dev/null 2>&1
-        docker exec --interactive --tty orbit bash
+        docker exec --interactive --tty orbit-$container_profile bash
         popd > /dev/null 2>&1
         ;;
     copy)
-        # check if the container is running
-        if [ "$( docker container inspect -f '{{.State.Status}}' orbit 2> /dev/null)" != "running" ]; then
-            echo "[Error] The 'orbit' container is not running! It must be running to copy files from it." >&2;
-            exit 1
-        fi
-        echo "[INFO] Copying artifacts from the 'orbit' container..."
+        # Check that desired container is running, exit if it isn't
+        is_container_running orbit-$container_profile
+        echo "[INFO] Copying artifacts from the 'orbit-$container_profile' container..."
         echo -e "\t - /workspace/orbit/logs -> ${SCRIPT_DIR}/artifacts/logs"
         echo -e "\t - /workspace/orbit/docs/_build -> ${SCRIPT_DIR}/artifacts/docs/_build"
         echo -e "\t - /workspace/orbit/data_storage -> ${SCRIPT_DIR}/artifacts/data_storage"
@@ -132,25 +151,17 @@ case $mode in
         mkdir -p ./artifacts/docs
 
         # copy the artifacts
-        docker cp orbit:/workspace/orbit/logs ./artifacts/logs
-        docker cp orbit:/workspace/orbit/docs/_build ./artifacts/docs/_build
-        docker cp orbit:/workspace/orbit/data_storage ./artifacts/data_storage
+        docker cp orbit-$container_profile:/workspace/orbit/logs ./artifacts/logs
+        docker cp orbit-$container_profile:/workspace/orbit/docs/_build ./artifacts/docs/_build
+        docker cp orbit-$container_profile:/workspace/orbit/data_storage ./artifacts/data_storage
         echo -e "\n[INFO] Finished copying the artifacts from the container."
         popd > /dev/null 2>&1
         ;;
     stop)
-        echo "[INFO] Stopping the launched docker container..."
+        # Check that desired container is running, exit if it isn't
+        is_container_running orbit-$container_profile
+        echo "[INFO] Stopping the launched docker container orbit-$container_profile..."
         pushd ${SCRIPT_DIR} > /dev/null 2>&1
-        if [ -z "$2" ]; then
-            add_profiles="--profile base"
-            add_envs="--env-file .env.base"
-        else
-            profile="$2"
-            add_profiles="--profile $profile"
-            # We have to load multiple .env files here in order to combine
-            # them for the args from base required for ROS2, (i.e. DOCKER_USER_HOME)
-            add_envs="--env-file .env.base --env-file .env.$profile"
-        fi
         docker compose --file docker-compose.yaml $add_profiles $add_envs down
         popd > /dev/null 2>&1
         ;;

diff --git a/docker/docker-compose.yaml b/docker/docker-compose.yaml
@@ -90,7 +90,7 @@ services:
         - ISAACSIM_PATH=${DOCKER_ISAACSIM_PATH}
         - DOCKER_USER_HOME=${DOCKER_USER_HOME}
     image: orbit-base
-    container_name: orbit
+    container_name: orbit-base
     environment:
       # We set DOCKER_ISAACSIM_PATH and then forward it to ISAACSIM_PATH within
       # the container to avoid collision with pre-existing ISAACSIM_PATH env vars
@@ -125,7 +125,7 @@ services:
         - ROS2_APT_PACKAGE=${ROS2_APT_PACKAGE:-NONE}
         - DOCKER_USER_HOME=${DOCKER_USER_HOME}
     image: orbit-ros2
-    container_name: orbit
+    container_name: orbit-ros2
     environment:
       - ISAACSIM_PATH=${DOCKER_ISAACSIM_PATH}
     volumes: *default-orbit-volumes

diff --git a/docs/source/deployment/docker.rst b/docs/source/deployment/docker.rst
@@ -21,11 +21,11 @@ Setup Instructions
 Docker and Docker Compose
 ~~~~~~~~~~~~~~~~~~~~~~~~~
 
-We have tested the container using Docker Engine version 24.0.2 and Docker Compose version 2.18.1.
+We have tested the container using Docker Engine version 26.0.0 and Docker Compose version 2.25.0
 We recommend using these versions or newer.
 
 * To install Docker, please follow the instructions for your operating system on the `Docker website`_.
-* To install Docker Compose, please follow the instructions for your operating system on the `docker-compose`_ page.
+* To install Docker Compose, please follow the instructions for your operating system on the `docker compose`_ page.
 * Follow the post-installation steps for Docker on the `post-installation steps`_ page. These steps allow you to run
   Docker without using ``sudo``.
 * To build and run GPU-accelerated containers, you also need install the `NVIDIA Container Toolkit`_.
@@ -71,11 +71,11 @@ needed to run Orbit inside a Docker container. A subset of these are summarized
 * ``Dockerfile.base``: Defines the orbit image by overlaying Orbit dependencies onto the Isaac Sim Docker image.
   ``Dockerfiles`` which end with something else, (i.e. ``Dockerfile.ros2``) build an `image_extension <#orbit-image-extensions>`_.
 * ``docker-compose.yaml``: Creates mounts to allow direct editing of Orbit code from the host machine that runs
-  the container along with X11 forwarding. It also creates several named volumes such as ``isaac-cache-kit`` to
+  the container. It also creates several named volumes such as ``isaac-cache-kit`` to
   store frequently re-used resources compiled by Isaac Sim, such as shaders, and to retain logs, data, and documents.
 * ``base.env``: Stores environment variables required for the ``base`` build process and the container itself. ``.env``
   files which end with something else (i.e. ``.env.ros2``) define these for `image_extension <#orbit-image-extensions>`_.
-* ``container.sh``: A script that wraps the ``docker-compose`` command to build the image and run the container.
+* ``container.sh``: A script that wraps the ``docker compose`` command to build the image and run the container.
 
 Running the Container
 ---------------------
@@ -94,32 +94,34 @@ Running the Container
       for the ``_build`` subdirectory where build artifacts are stored.
 
 
-The script ``container.sh`` wraps around three basic ``docker-compose`` commands:
+The script ``container.sh`` wraps around three basic ``docker compose`` commands. Each can accept an `image_extension argument <#orbit-image-extensions>`_,
+or else they will default to image_extension ``base``:
 
-1. ``start``: This builds the image and brings up the container in detached mode (i.e. in the background). It can accept an
-   `image_extension argument <#orbit-image-extensions>`_.
+1. ``start``: This builds the image and brings up the container in detached mode (i.e. in the background).
 2. ``enter``: This begins a new bash process in an existing orbit container, and which can be exited
-   without bringing down the container.  It can accept an `image_extension argument <#orbit-image-extensions>`_.
+   without bringing down the container.
 3. ``copy``: This copies the ``logs``, ``data_storage`` and ``docs/_build`` artifacts, from the ``orbit-logs``, ``orbit-data`` and ``orbit-docs``
    volumes respectively, to the ``docker/artifacts`` directory. These artifacts persist between docker
-   container instances.
+   container instances and are shared between image extensions.
 4. ``stop``: This brings down the container and removes it.
 
 The following shows how to launch the container in a detached state and enter it:
 
 .. code:: bash
 
     # Launch the container in detached mode
+    # We don't pass an image extension arg, so it defaults to 'base'
     ./docker/container.sh start
     # Enter the container
-    ./docker/container.sh enter
+    # We pass 'base' explicitly, but if we hadn't it would default to 'base'
+    ./docker/container.sh enter base
 
-To copy files from the container to the host machine, you can use the following command:
+To copy files from the base container to the host machine, you can use the following command:
 
 .. code:: bash
 
     # Copy the file /workspace/orbit/logs to the current directory
-    docker cp orbit:/workspace/orbit/logs .
+    docker cp orbit-base:/workspace/orbit/logs .
 
 The script ``container.sh`` provides a wrapper around this command to copy the ``logs`` , ``data_storage`` and ``docs/_build``
 directories to the ``docker/artifacts`` directory. This is useful for copying the logs, data and documentation:
@@ -268,7 +270,7 @@ in docker-compose.yaml.
 .. _`NVIDIA Omniverse EULA`: https://docs.omniverse.nvidia.com/platform/latest/common/NVIDIA_Omniverse_License_Agreement.html
 .. _`container installation`: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_container.html
 .. _`Docker website`: https://docs.docker.com/desktop/install/linux-install/
-.. _`docker-compose`: https://docs.docker.com/compose/install/linux/#install-using-the-repository
+.. _`docker compose`: https://docs.docker.com/compose/install/linux/#install-using-the-repository
 .. _`NVIDIA Container Toolkit`: https://github.com/NVIDIA/nvidia-container-toolkit
 .. _`Container Toolkit website`: https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html
 .. _`post-installation steps`: https://docs.docker.com/engine/install/linux-postinstall/