Update Dockerfile and docker-compose to match example_ws

Author: JWhitleyWork

Dockerfile

@@ -6,8 +6,8 @@
 #
 
 # Specify the MoveIt Pro release to build on top of.
-ARG MOVEIT_STUDIO_BASE_IMAGE
-ARG USERNAME=studio-user
+ARG MOVEIT_PRO_BASE_IMAGE=picknikciuser/moveit-studio:${MOVEIT_DOCKER_TAG:-main}-${MOVEIT_ROS_DISTRO:-humble}
+ARG USERNAME=moveit-pro-user
 ARG USER_UID=1000
 ARG USER_GID=1000
 
@@ -16,7 +16,7 @@ ARG USER_GID=1000
 ##################################################
 # The image tag is specified in the argument itself.
 # hadolint ignore=DL3006
-FROM ${MOVEIT_STUDIO_BASE_IMAGE} AS base
+FROM ${MOVEIT_PRO_BASE_IMAGE} AS base
 
 # Create a non-root user
 ARG USERNAME
@@ -27,6 +27,12 @@ ARG USER_GID
 ARG USER_WS=/home/${USERNAME}/user_ws
 ENV USER_WS=${USER_WS}
 
+# Set real time limits
+# Ensure the directory exists
+RUN mkdir -p /etc/security
+# Copy the custom limits configuration into the container
+COPY src/moveit_pro_franka_configs/franka_arm_hw/config/rt_limits.conf /etc/security/limits.conf
+
 # Also mkdir with user permission directories which will be mounted later to avoid docker creating them as root
 WORKDIR $USER_WS
 # hadolint ignore=DL3008
@@ -51,13 +57,17 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
 # Add user to video group to enable communication with cameras
 RUN usermod -aG dialout,video ${USERNAME}
 
+# Add user to the realtime group to enable RT limits
+RUN groupadd realtime && \
+    usermod -a -G realtime ${USERNAME}
+
 # Install additional dependencies
 # You can also add any necessary apt-get install, pip install, etc. commands at this point.
 # NOTE: The /opt/overlay_ws folder contains MoveIt Pro binary packages and the source file.
 # hadolint ignore=SC1091
 RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
     --mount=type=cache,target=/var/lib/apt,sharing=locked \
-    --mount=type=bind,target=${USER_WS}/,source=. \
+    --mount=type=bind,target=${USER_WS}/src,source=./src \
     . /opt/overlay_ws/install/setup.sh && \
     apt-get update && \
     rosdep install -q -y \
@@ -94,7 +104,8 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
     apt-get install -y --no-install-recommends \
         less \
         gdb \
-        nano
+        nano \
+        tmux
 
 # Set up the user's .bashrc file and shell.
 CMD ["/usr/bin/bash"]
@@ -113,129 +124,3 @@ WORKDIR $USER_WS
 
 # Set up the user's .bashrc file and shell.
 CMD ["/usr/bin/bash"]
-
-##################################################
-# Starting from the specified MoveIt Pro release with CUDA GPU #
-##################################################
-# The image tag is specified in the argument itself.
-# hadolint ignore=DL3006
-FROM ${MOVEIT_STUDIO_BASE_IMAGE} AS base-gpu
-
-# Create a non-root user
-ARG USERNAME
-ARG USER_UID
-ARG USER_GID
-
-# hadolint ignore=DL3008
-RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
-    --mount=type=cache,target=/var/lib/apt,sharing=locked \
-    apt-get update && apt-get install wget -y -q --no-install-recommends && \
-    wget --progress=dot:giga https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2204/x86_64/cuda-keyring_1.1-1_all.deb && \
-    dpkg -i cuda-keyring_1.1-1_all.deb && \
-    apt-get update && \
-    apt-get install -q -y --no-install-recommends \
-      libcudnn9-cuda-12 \
-      libcudnn9-dev-cuda-12 \
-      libcublas-12-6 \
-      cuda-cudart-12-6 \
-      libcurand-12-6 \
-      libcufft-12-6 \
-      libnvinfer10 \
-      libnvinfer-plugin10 \
-      libnvonnxparsers10 \
-      libtree
-
-# Misleading name: onnxruntime_gpu is actually specifically the CUDA package. This is only shipped for x86-64
-RUN if [ "$(uname -m)" = "x86_64" ]; then pip3 install --no-cache-dir onnxruntime_gpu==1.19.0; fi
-
-# Copy source code from the workspace's ROS 2 packages to a workspace inside the container
-ARG USER_WS=/home/${USERNAME}/user_ws
-ENV USER_WS=${USER_WS}
-
-# Also mkdir with user permission directories which will be mounted later to avoid docker creating them as root
-WORKDIR $USER_WS
-# hadolint ignore=DL3008
-RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
-    --mount=type=cache,target=/var/lib/apt,sharing=locked \
-    groupadd --gid $USER_GID ${USERNAME} && \
-    useradd --uid $USER_UID --gid $USER_GID --shell /bin/bash --create-home ${USERNAME} && \
-    apt-get update && \
-    apt-get install -q -y --no-install-recommends sudo && \
-    echo ${USERNAME} ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/${USERNAME} && \
-    chmod 0440 /etc/sudoers.d/${USERNAME} && \
-    cp -r /etc/skel/. /home/${USERNAME} && \
-    mkdir -p \
-      /home/${USERNAME}/.ccache \
-      /home/${USERNAME}/.config \
-      /home/${USERNAME}/.ignition \
-      /home/${USERNAME}/.colcon \
-      /home/${USERNAME}/.ros && \
-    chown -R $USER_UID:$USER_GID /home/${USERNAME} /opt/overlay_ws/
-
-# Install additional dependencies
-# You can also add any necessary apt-get install, pip install, etc. commands at this point.
-# NOTE: The /opt/overlay_ws folder contains MoveIt Pro binary packages and the source file.
-# hadolint ignore=SC1091
-RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
-    --mount=type=cache,target=/var/lib/apt,sharing=locked \
-    --mount=type=bind,target=${USER_WS}/,source=. \
-    . /opt/overlay_ws/install/setup.sh && \
-    apt-get update && \
-    rosdep install -q -y \
-      --from-paths src \
-      --ignore-src
-
-# Set up colcon defaults for the new user
-USER ${USERNAME}
-RUN colcon mixin add default \
-    https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml && \
-    colcon mixin update && \
-    colcon metadata add default \
-    https://raw.githubusercontent.com/colcon/colcon-metadata-repository/master/index.yaml && \
-    colcon metadata update
-COPY colcon-defaults.yaml /home/${USERNAME}/.colcon/defaults.yaml
-
-# hadolint ignore=DL3002
-USER root
-
-# Set up the user's .bashrc file and shell.
-CMD ["/usr/bin/bash"]
-
-###################################################################
-# Target for the developer build which does not compile any code. #
-###################################################################
-FROM base-gpu  AS user-overlay-gpu-dev
-
-ARG USERNAME
-ARG USER_WS=/home/${USERNAME}/user_ws
-ENV USER_WS=${USER_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 \
-        nano
-
-# Set up the user's .bashrc file and shell.
-CMD ["/usr/bin/bash"]
-
-#########################################
-# Target for compiled, deployable image with GPU support #
-#########################################
-FROM base-gpu AS user-overlay-gpu
-
-ARG USERNAME
-ARG USER_WS=/home/${USERNAME}/user_ws
-ENV USER_WS=${USER_WS}
-
-ENV LD_LIBRARY_PATH=/usr/local/lib/python3.10/dist-packages/onnxruntime/capi:/usr/lib/x86_64-linux-gnu:/usr/local/cuda-12.6/targets/x86_64-linux/lib:$LD_LIBRARY_PATH
-
-# Compile the workspace
-WORKDIR $USER_WS
-
-# Set up the user's .bashrc file and shell.
-CMD ["/usr/bin/bash"]

docker-compose.yaml

@@ -3,18 +3,26 @@
 
 # Services that are listed under `/opt/moveit_pro/docker-compose.yaml` are mirrored here for merging.
 # Feel free to remove services here that are unmodified.
+#
 services:
+
   # The base image that all MoveIt Pro services extend off of. Builds the user workspace.
   base: {}
 
   # Starts the MoveIt Pro Agent and the Bridge between the Agent and the Web UI.
   agent_bridge: {}
 
   # Starts the robot drivers.
-  drivers: {}
+  drivers:
+    volumes:
+      # Allow access to host hardware e.g. RealSense cameras
+      - /dev:/dev
 
   # Starts the web UI frontend.
   web_ui: {}
 
   # Developer specific configuration when running `moveit_pro dev`.
-  dev: {}
+  dev:
+    volumes:
+      # Allow access to host hardware e.g. RealSense cameras
+      - /dev:/dev