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Published 1 week ago • verified publisher icon RobotecAI

feat: updated docker setup for manipulation demo

Open Cytrus14 opened this issue 6 months ago • 4 comments

Purpose

This PR introduces updates to the Docker setup and implements changes necessary to run the manipulation demo within a containerized environment.

Proposed Changes

  • Updates to selected RAI components to ensure proper operation inside of a container.
  • Updates to the Dockerfile.
  • Updates to the documentation, specifically docs/demos/manipulation.md and docs/setup/setup_docker.md.

Issues

Testing

  1. Modify the docker file to use the branch from this PR instead of the main branch. Specifically, add these lines to the dockerfile after the RUN git clone https://github.com/RobotecAI/rai.git . command:
RUN git pull
RUN git switch dm/feat/docker-image-manipulator-demo
  1. Setup the manipulation arm demo as described in the [updated documentation](https://github.com/RobotecAI/rai/blob/dm/feat/docker-image-manipulator-demo/docs/demos/manipulation.md
  2. Run the demo

Summary by CodeRabbit

  • New Features

    • Added a configurable Docker build process with a new argument to select dependency groups and improved environment setup for ROS 2 and Fast DDS.
    • Introduced a Fast DDS XML configuration file for custom transport settings.
    • Enhanced vision agent logic to better manage weight file paths and prevent redundant assignments.

  • Bug Fixes

    • Added explicit device selection for model initialization in vision markup, ensuring correct use of CUDA or CPU.
    • Implemented a timeout for long-running vision service calls to prevent indefinite waiting.

  • Documentation

    • Expanded and reorganized Docker setup guides, including detailed instructions for manipulation demos and ROS 2 communication between host and container.
    • Clarified build and run steps for different ROS 2 versions and dependency groups.

  • Chores

    • Added a comprehensive .dockerignore file to optimize Docker image builds by excluding unnecessary files and directories.

Cytrus14 avatar Jun 24 '25 07:06 Cytrus14

@Cytrus14 Thank you for responding to my comments! Could you take a look at this one: https://github.com/RobotecAI/rai/pull/641/files#r2168690801?

boczekbartek avatar Jun 26 '25 11:06 boczekbartek

@coderabbitai full review

boczekbartek avatar Jun 26 '25 14:06 boczekbartek

✅ Actions performed

Full review triggered.

coderabbitai[bot] avatar Jun 26 '25 14:06 coderabbitai[bot]

Walkthrough

A new .dockerignore file was added to optimize Docker build contexts. The Dockerfile was updated to support dependency group selection, environment variables, and improved installation steps. Fast DDS configuration was introduced via XML. Documentation was expanded for Docker and manipulation demo setup. Minor logic improvements were made to vision agent and segmentation tools.

Changes

File(s) Change Summary
.dockerignore Added a comprehensive ignore file to exclude unnecessary files and directories from Docker build context, including Python artifacts, IDE configs, ROS/Celery/Jupyter outputs, and project-specific files.
docker/Dockerfile Added build arg DEPENDENCIES (default: core_only), validation for allowed values, simplified apt install, added zip package, updated Poetry to 2.1.3, copied context instead of cloning, set Fast DDS/RMW env vars, and made Poetry install conditional on dependency group.
docker/fastrtps_config.xml Introduced Fast DDS XML config defining a custom UDP transport and default participant profile for ROS 2 communication.
docs/demos/manipulation.md Expanded with a new Docker Setup section, providing step-by-step instructions for running the manipulation demo in Docker, including prerequisites, build, run, and execution steps. Reorganized local setup instructions.
docs/setup/setup_docker.md Expanded and reorganized Docker setup documentation: clarified image build options, added repository cloning step, detailed host-container ROS 2 communication setup, updated Docker run commands, and refined test instructions.
src/rai_extensions/rai_open_set_vision/rai_open_set_vision/agents/base_vision_agent.py Added _is_weights_path_set boolean instance variable; modified weight path initialization logic to prevent repeated reassignment of _weights_path and ensure correct path handling during weight downloads.
src/rai_extensions/rai_open_set_vision/rai_open_set_vision/tools/segmentation_tools.py Added a 60-second timeout to get_future_result calls in GetGrabbingPointTool._run for GroundingDino and Grounded SAM service responses; added explanatory comment.
src/rai_extensions/rai_open_set_vision/rai_open_set_vision/vision_markup/boxer.py Imported torch and modified GDBoxer constructor to explicitly set model device to "cuda" if available, otherwise "cpu", when use_cuda is true.

Sequence Diagram(s)

sequenceDiagram
    participant User
    participant Docker
    participant Poetry
    participant ROS2
    participant FastDDS

    User->>Docker: Build image (with DEPENDENCIES arg)
    Docker->>Docker: Validate DEPENDENCIES (core_only/all_groups)
    Docker->>Docker: Install system packages (incl. zip)
    Docker->>Docker: Install Poetry 2.1.3
    Docker->>Docker: Copy project context
    Docker->>Docker: Set FastDDS and RMW env vars
    Docker->>Poetry: Install dependencies (core_only or all_groups)
    Docker->>ROS2: Install ROS dependencies, build workspace
    Docker->>FastDDS: Use fastrtps_config.xml for communication

sequenceDiagram
    participant User
    participant Host
    participant DockerContainer
    participant ROS2
    participant FastDDS

    User->>Host: Clone repo, build Docker image
    User->>Host: Source ROS2, set ROS_DOMAIN_ID
    User->>Host: Configure FastDDS (fastrtps_config.xml)
    User->>DockerContainer: Run container with env vars and network settings
    DockerContainer->>ROS2: Use FastDDS for communication
    DockerContainer->>Host: Communicate via shared DDS domain
✨ Finishing Touches
  • [ ] 📝 Generate Docstrings

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coderabbitai[bot] avatar Jun 26 '25 14:06 coderabbitai[bot]

Codecov Report

:white_check_mark: All modified and coverable lines are covered by tests. :white_check_mark: Project coverage is 65.34%. Comparing base (074af8e) to head (1f09e8e). :white_check_mark: All tests successful. No failed tests found.

Additional details and impacted files 
@@           Coverage Diff           @@
##             main     #641   +/-   ##
=======================================
  Coverage   65.34%   65.34%           
=======================================
  Files          78       78           
  Lines        3388     3388           
=======================================
  Hits         2214     2214           
  Misses       1174     1174

:umbrella: View full report in Codecov by Sentry.
:loudspeaker: Have feedback on the report? Share it here.

codecov[bot] avatar Dec 22 '25 12:12 codecov[bot]

@juliajia did you try to run manipulation demo via docker in PR https://github.com/RobotecAI/rai/pull/641 because I m trying to merge all docker PRs, but i have error when following the docs

[ERROR] [launch]: Caught exception in launch (see debug for traceback): "package 'rai_bringup' not found, searching: ['/opt/ros/jazzy']"

on command ros2 launch examples/manipulation-demo.launch.py

jmatejcz avatar Dec 22 '25 13:12 jmatejcz

@jmatejcz looks like source setup shell sh is missing, or there's no colcon build before

maciejmajek avatar Dec 22 '25 13:12 maciejmajek