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Build_Docker_Images.md

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Build Docker Images

Based on ros:noetic (ROS 1) and ros:rolling (ROS 2), we will build full ROS / ROS 2 docker images and upload those images to dockerhub. The reason to build full docker images for ROS and ROS 2 is basic container images do not include useful samples or examples packages, docker images with full packages can be very useful for container application on Kubernetes cluster system.

To build and uploard all ROS container images, you can use build_docker_images.sh.

Setup Prerequisite

DockerHub

The following procedure requires dockerhub access to download and upload built images. Kubernetes can pull the container images from dockerhub in default, but it also can be specified with private registry if necessary. We must have account DockerHub, if you do not have one, create account. Then, make sure docker login works okay as following.

> docker login
Authenticating with existing credentials...
WARNING! Your password will be stored unencrypted in /home/tomoyafujita/.docker/config.json.
Configure a credential helper to remove this warning. See
https://docs.docker.com/engine/reference/commandline/login/#credentials-store

Login Succeeded

see https://docs.docker.com/engine/reference/commandline/login/ for detail.

Install Docker buildx

Since docker buildx is under development and still experimental phase, this is not recommended.

To build multi-arch container image for amd64 and arm64, docker buildx needs to be enabled. On Linux platform such as Ubuntu, docker buildx is under experimental so it needs to be installed manually. See https://github.com/docker/buildx#linux-packages to download the executable binary statically linked.

> mkdir ~/.docker/cli-plugins
> mv Downloads/buildx-v0.10.1.linux-amd64 ~/.docker/cli-plugins
> chmod +x ~/.docker/cli-plugins/buildx-v0.10.1.linux-amd64
> ls -lt ~/.docker/cli-plugins
total 48M
-rwxrwxr-x 1 tomoyafujita tomoyafujita 47M Jan 26 22:30 buildx-v0.10.1.linux-amd64*
> mv ~/.docker/cli-plugins/buildx-v0.10.1.linux-amd64 ~/.docker/cli-plugins/docker-buildx
> docker buildx

Usage:  docker buildx [OPTIONS] COMMAND

Extended build capabilities with BuildKit

Options:
      --builder string   Override the configured builder instance

Management Commands:
  imagetools  Commands to work on images in registry

Commands:
  bake        Build from a file
  build       Start a build
  create      Create a new builder instance
  du          Disk usage
  inspect     Inspect current builder instance
  ls          List builder instances
  prune       Remove build cache
  rm          Remove a builder instance
  stop        Stop builder instance
  use         Set the current builder instance
  version     Show buildx version information

Run 'docker buildx COMMAND --help' for more information on a command.

ROS Noetic

The following operation needs to be done for each platform architecture, for example amd64 and arm64.

  • Make sure that we can pull docker ros:noetic image.
> docker pull ros:noetic
noetic: Pulling from library/ros
Digest: sha256:ab5d0ba8771862f65925511a61f212c7623e8b020d05fd391611b6071e0e43c2
Status: Image is up to date for ros:noetic
docker.io/library/ros:noetic
  • Build desktop image
> export DOCKERHUB_USERNAME="tomoyafujita"
> export ARCH=`dpkg-architecture -q DEB_BUILD_ARCH`
> echo $ARCH
amd64
> cd ros_k8s/docker/
> docker build --rm -f Dockerfile.noetic -t $DOCKERHUB_USERNAME/ros:noetic-$ARCH .
...<snip>
  • Upload desktop image
> docker push $DOCKERHUB_USERNAME/ros:noetic-$ARCH

  • Create and push manifest

    This operation needs to be done just once to support multiple architecture image. Here it describes how to support multiple architecture amd64 and arm64 platform.

> docker manifest create $DOCKERHUB_USERNAME/ros:noetic $DOCKERHUB_USERNAME/ros:noetic-amd64 --amend $DOCKERHUB_USERNAME/ros:noetic-arm64
> docker manifest inspect $DOCKERHUB_USERNAME/ros:noetic
> docker manifest push $DOCKERHUB_USERNAME/ros:noetic

  • Pull desktop image

    If multiple architecture images are successfully uploaded, the following pull command will download the appropriate architecture image based on your machine.

> docker pull $DOCKERHUB_USERNAME/ros:noetic

ROS Rolling

The following operation needs to be done for each platform architecture, for example amd64 and arm64.

  • Make sure that we can pull docker ros:rolling image.
> docker pull ros:rolling
noetic: Pulling from library/ros
Digest: sha256:ab5d0ba8771862f65925511a61f212c7623e8b020d05fd391611b6071e0e43c2
Status: Image is up to date for ros:noetic
docker.io/library/ros:noetic
  • Build desktop image
> export DOCKERHUB_USERNAME="tomoyafujita"
> export ARCH=`dpkg-architecture -q DEB_BUILD_ARCH`
> echo $ARCH
amd64
> cd ros_k8s/docker/
> docker build --rm -f Dockerfile.rolling -t $DOCKERHUB_USERNAME/ros:rolling-$ARCH .
...<snip>
  • Upload desktop image
> docker push $DOCKERHUB_USERNAME/ros:rolling-$ARCH

  • Create and push manifest

    This operation needs to be done just once to support multiple architecture image. Here it describes how to support multiple architecture amd64 and arm64 platform.

> docker manifest create $DOCKERHUB_USERNAME/ros:rolling $DOCKERHUB_USERNAME/ros:rolling-amd64 --amend $DOCKERHUB_USERNAME/ros:rolling-arm64
> docker manifest inspect $DOCKERHUB_USERNAME/ros:rolling
> docker manifest push $DOCKERHUB_USERNAME/ros:rolling

  • Pull desktop image

    If multiple architecture images are successfully uploaded, the following pull command will download the appropriate architecture image based on your machine.

> docker pull $DOCKERHUB_USERNAME/ros:rolling

Verify Images

Before deploying container images via Kubernetes, it would be nice to check if the container images can be running on the platform.

  • ROS talker and listener
> export DOCKERHUB_USERNAME="tomoyafujita"
> docker run -it --rm $DOCKERHUB_USERNAME/ros:noetic /bin/bash
root@ffedcfd31e7c:/# source /opt/ros/noetic/setup.bash
root@ffedcfd31e7c:/# roscore &
...<snip>
started core service [/rosout]

root@ffedcfd31e7c:/# rosrun roscpp_tutorials talker & rosrun rospy_tutorials listener.py
[2] 292
[ INFO] [1671522107.034150075]: hello world 0
[ INFO] [1671522107.134188598]: hello world 1
[ INFO] [1671522107.234184871]: hello world 2
[ INFO] [1671522107.334181908]: hello world 3
[ INFO] [1671522107.434191743]: hello world 4
[ INFO] [1671522107.534171889]: hello world 5
[INFO] [1671522107.534725]: /listener_293_1671522107280I heard hello world 5
[ INFO] [1671522107.634173819]: hello world 6
[INFO] [1671522107.634479]: /listener_293_1671522107280I heard hello world 6
[ INFO] [1671522107.734172475]: hello world 7
[INFO] [1671522107.734669]: /listener_293_1671522107280I heard hello world 7
...<snip>
  • ROS 2 talker and listener
> export DOCKERHUB_USERNAME="tomoyafujita"
> docker run -it --rm $DOCKERHUB_USERNAME/ros:rolling /bin/bash
root@266162be906b:/# source /opt/ros/rolling/setup.bash
root@266162be906b:/# ros2 run demo_nodes_cpp talker & ros2 run demo_nodes_py listener
[1] 88
[INFO] [1671521236.301471647] [talker]: Publishing: 'Hello World: 1'
[INFO] [1671521236.329742222] [listener]: I heard: [Hello World: 1]
[INFO] [1671521237.301410324] [talker]: Publishing: 'Hello World: 2'
[INFO] [1671521237.302500635] [listener]: I heard: [Hello World: 2]
[INFO] [1671521238.301440713] [talker]: Publishing: 'Hello World: 3'
[INFO] [1671521238.303480752] [listener]: I heard: [Hello World: 3]
[INFO] [1671521239.301415859] [talker]: Publishing: 'Hello World: 4'
[INFO] [1671521239.302524654] [listener]: I heard: [Hello World: 4]
^C[INFO] [1671521240.301487315] [talker]: Publishing: 'Hello World: 5'
...<snip>