Docker

drake/doc/docker.rst

@@ -0,0 +1,262 @@
+.. _docker_entry:
+
+Building Drake in a Docker Container
+************************************
+
+.. _docker_intro:
+
+Introduction
+============
+Docker containers have emerged as a solution to running code or services in a
+way that is isolated from the host operating system. This allows code to be
+compiled and run on systems running unsupported operating systems or with
+incompatable configurations to the software dependencies. Docker is available
+for `all major operating systems <https://www.docker.com/community-edition>`_.
+
+Two Docker containers are provided with Drake to allow developers to test and
+develop without needing to configure a supported operating system. These
+containers will build Drake in isolated Ubuntu 16.04 environments.
+
+The Nvidia Dockerfile is based upon the nvidia docker plugin base image, which 
+also contains CUDA support. The opensource Dockerfile is based on the 
+the vanilla Ubuntu 16.04 image and is intended to support opensource graphics
+card drivers such as nouveau and intel. Should you need to build inside of
+another base image (FROM line in the Dockerfile), they are available `here
+<https://hub.docker.com/explore/>`_. 
+
+Note: This docker image is provided as an experimental feature and is not
+presently covered by continuous integration.
+
+.. _docker_getting_started:
+
+Getting Started
+===============
+In order to get docker installed, please follow guides specific to your
+operating system. The typical steps are:
+
+  #. Install docker from your distribution's package manager or official installer
+     from `Docker
+     <https://store.docker.com/search?type=edition&offering=community>`_
+
+  #. Enable Docker to run as a daemon/service
+  #. Add appropriate users to the docker group to give permissions to interact
+     with the Docker service
+
+  #. Log out and back in to update user groups
+  #. Happy dockering!
+
+These steps on Ubuntu 16.04 x86_64 are:
+
+::
+
+  $ wget https://download.docker.com/linux/ubuntu/dists/xenial/pool/stable/amd64/docker-ce_17.03.1~ce-0~ubuntu-xenial_amd64.deb
+  $ sudo dpkg -i docker-ce_17.03.1~ce-0~ubuntu-xenial_amd64.deb
+  $ sudo systemctl start docker
+  $ sudo usermod -aG docker <username>
+
+Log out and then back in.
+
+.. _docker_building:
+
+Building
+========
+
+Clone the Drake source code as described in :ref:`Getting Drake<getting_drake>`. 
+
+The the following build commands will copy the full <drake-distro> directory
+from your host machine into the Docker container where it may be built and run.
+
+Nvidia
+~~~~~~
+When using the Nvidia proprietary drivers:
+
+::
+
+  $ cd <drake-distro>
+  $ docker build -t drake -f setup/docker/Dockerfile.ubuntu16.04.nvidia .
+
+Open Source
+~~~~~~~~~~~
+When using open source video drivers (nouveau, intel, ...):
+
+::
+
+  $ cd <drake-distro>
+  $ docker build -t drake -f setup/docker/Dockerfile.ubuntu16.04.opensource .
+
+If successful
+
+::
+
+  $ docker images
+
+should show an image named drake and 
+
+::
+
+  $ docker ps
+
+will show any running Docker containers on your system.
+
+.. _docker_running:
+
+Running
+=======
+
+.. _docker_running_simulation:
+
+The simplest run command is
+
+::
+
+  $ docker run -it drake bash
+
+which will give you bash shell access to the Ubuntu 16.04 Docker container
+where you can run commands such as:
+
+::
+
+  $ cd /drake-distro
+  $ bazel build //...
+  $ bazel test //...
+
+These commands will build all packages using bazel and run all tests.
+
+Graphical Interface
+~~~~~~~~~~~~~~~~~~~
+
+The run command in order to get graphical interfaces from the Docker container
+is a bit more involved. Two systems are described below one with Nvidia
+proprietary graphics card drivers and one with open source drivers like Nouveau
+and Intel.
+
+.. _docker_running_simulation_nvidia:
+
+Nvidia drivers:
+---------------
+The `nvidia-docker <https://github.com/NVIDIA/nvidia-docker/>`_ plugin is
+required in order to pass Xorg drawing commands to your host system when the
+proprietary Nvidia GPU drivers are installed. To install Nvidia GPU drivers with
+apt on Ubuntu 16.04::
+
+  $ sudo apt-get nvidia-361 nvidia-modprobe
+
+To install nvidia-docker on Ubuntu 16.04:
+
+::
+
+  $ wget -P /tmp https://github.com/NVIDIA/nvidia-docker/releases/download/v1.0.1/nvidia-docker_1.0.1-1_amd64.deb
+  $ sudo dpkg -i /tmp/nvidia-docker*.deb && rm /tmp/nvidia-docker*.deb
+  $ nvidia-docker run --rm nvidia/cuda nvidia-smi
+
+
+::
+
+  $ xhost +local:root; nvidia-docker run -i --rm -e DISPLAY \
+  -e QT_X11_NO_MITSHM=1 -v /tmp/.X11-unix:/tmp/.X11-unix \
+  --privileged -t drake; xhost -local:root
+
+The default command defined behavior will start the Drake visualizer and run 
+the bowling ball simulation.
+
+Walking through this command::
+
+  $ xhost +local
+
+will allow access for non-network connections to your local X server and pass
+the necessary X11 parameters for graphical display of programs within the Docker
+container.::
+
+  docker-nvidia
+
+is an Nvidia plugin that couples with the proprietary Nvidia drivers and gives
+access to advanced features like CUDA.
+
+The::
+
+  -i
+
+switch assigns a tty for interactive text connections within
+the console.::
+
+  --rm
+
+will clean up after the image, omit this to allow the container's file system to
+persist.::
+
+  -e DISPLAY
+
+Forwards your host DISPLAY environment variable to the Docker container.::
+
+  -e QT_X11_NO_MITSHM=1
+
+specifies to not use the MIT magic cookie.::
+
+  -v /tmp/.X11-unix:/tmp/.X11-unix
+
+shares the host .X11 interface with the Docker container as a volume.::
+
+  --privileged
+
+is only needed on selinux systems.::
+
+  -t drake
+
+provides the Docker container name and::
+
+  $ xhost -local:root
+
+removes the permission given earlier for local non-network connections to X.
+
+
+See the `Docker Run Reference
+<https://docs.docker.com/engine/reference/run/>`_. For more information on
+run options.
+
+It is also possible to enter a bash shell for interactive development with:
+
+::
+
+  $ xhost +local:root; nvidia-docker run -i --rm -e DISPLAY \
+  -e QT_X11_NO_MITSHM=1 -v /tmp/.X11-unix:/tmp/.X11-unix \
+  --privileged -t drake bash; xhost -local:root
+
+where you may want to try various demonstrations, e.g.:
+
+::
+
+  $ cd /drake-distro
+  $ bazel run //drake/examples/contact_model:bowling_ball
+  $ bazel run //drake/examples/kuka_iiwa_arm:kuka_simulation
+  $ bazel run //drake/examples/kuka_iiwa_arm/dev/monolithic_pick_and_place:monolithic_pick_and_place_demo
+
+
+Note: these are currently not rendering properly due to VTK .obj/.mtl importing.
+
+
+.. _docker_running_simulation_open:
+
+Open source drivers:
+~~~~~~~~~~~~~~~~~~~~
+With open source graphics drivers like Nouveau and Intel you do not need the
+nvidia-docker plugin.
+
+::
+
+  $ xhost +local:root; docker run -i --rm -e DISPLAY \
+  -e QT_X11_NO_MITSHM=1 -v /tmp/.X11-unix:/tmp/.X11-unix \
+  --privileged -t drake; xhost -local:root
+
+
+Sharing Files Between Host and Docker:
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+It is possible to interactively develop and compile within the Docker container.
+Several options exist for retaining code altered or generated within the
+Docker image. `Docker cp
+<https://docs.docker.com/engine/reference/commandline/cp/>`_ can be used
+to copy files into and out of a running image. 
+`-v <https://docs.docker.com/engine/tutorials/dockervolumes/#locate-a-volume>`_
+can be used to mount a host directory inside the Docker image at the expense
+of file system isolation. Or you can use git commands interactively inside the
+container to push code changes directly to a repository. 

drake/doc/index.rst

@@ -131,16 +131,21 @@ The Drake developers would like to acknowledge significant support from the `Toy
 Next steps
 ==========
 .. toctree::
-	 :maxdepth: 1
-
-	 installation
-	 developers
-	 Doxygen (C++) <doxygen_cxx/index.html#://>
-	 faq
-	 issues
-	 Mailing list <http://mailman.mit.edu/mailman/listinfo/drake-users>
-	 credits
-	 GitHub <https://github.com/RobotLocomotion/drake>
+   :maxdepth: 1
+
+   gallery
+   installation
+   Introduction and Examples <http://underactuated.csail.mit.edu/underactuated.html?chapter=drake>
+   design
+   developers
+   Doxygen (C++) <doxygen_cxx/index.html#://>
+   models
+   faq
+   issues
+   video_tutorials
+   Mailing list <http://mailman.mit.edu/mailman/listinfo/drake-users>
+   credits
+   GitHub <https://github.com/RobotLocomotion/drake>
 
 
 Using Drake from other Programming Languages

drake/doc/installation.rst

@@ -16,6 +16,7 @@ You can choose to download a pre-compiled version of Drake, or to build it from
 
 	from_binary
 	from_source
+	docker
 
 
 Optional: Installing MATLAB

setup/docker/Dockerfile.ubuntu16.04.nvidia

@@ -0,0 +1,9 @@
+FROM nvidia/cuda:8.0-devel-ubuntu16.04
+RUN mkdir /drake-distro
+COPY . /drake-distro
+RUN apt-get update && yes "Y" \
+      | /drake-distro/setup/ubuntu/16.04/install_prereqs.sh \
+      && rm -rf /var/lib/apt/lists/* \
+      && apt-get clean all
+RUN cd /drake-distro && bazel build //tools:drake_visualizer && bazel build //drake/examples/Acrobot:acrobot_run_passive
+ENTRYPOINT ["/drake-distro/setup/docker/entrypoint.sh"]

setup/docker/Dockerfile.ubuntu16.04.opensource

@@ -0,0 +1,9 @@
+FROM ubuntu:16.04
+RUN mkdir /drake-distro
+COPY . /drake-distro
+RUN apt-get update && yes "Y" \
+      | /drake-distro/setup/ubuntu/16.04/install_prereqs.sh \
+      && rm -rf /var/lib/apt/lists/* \
+      && apt-get clean all
+RUN cd /drake-distro && bazel build //tools:drake_visualizer && bazel build //drake/examples/Acrobot:acrobot_run_passive
+ENTRYPOINT ["/drake-distro/setup/docker/entrypoint.sh"]

setup/docker/entrypoint.sh

@@ -0,0 +1,15 @@
+#!/bin/bash
+#This file is a script that defines the default run behavior of the Docker
+#image. If no command line arguments are given, it will run the passive Acrobot
+#demo, else it will execute privided arguments in a Bash shell.
+set -e -u
+[[ $# -eq 0 ]] && {
+# TODO (brandon-northcutt) run the visualizer produced from Bazel
+  cd /drake-distro
+  bazel build //tools:drake_visualizer
+  ./bazel-bin/tools/drake_visualizer&
+  sleep 2
+  bazel run //drake/examples/Acrobot:acrobot_run_passive
+} || {
+  eval "$@"
+}

setup/ubuntu/16.04/install_prereqs.sh

@@ -26,7 +26,7 @@ while true; do
   read -p "Do you want to continue? [Y/n] " yn
   case $yn in
     [Yy]*)
-      apt-get install --no-install-recommends lsb-core software-properties-common wget
+      apt-get install --no-install-recommends lsb-core software-properties-common wget sudo
       wget -q -O - http://llvm.org/apt/llvm-snapshot.gpg.key | sudo apt-key add -
       add-apt-repository -y "deb http://apt.llvm.org/xenial/ llvm-toolchain-xenial-3.9 main"
       apt-get update