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Merge pull request #203 from utn-mi/gamal/rcs-docker
Add Development Dockerfile for RCS
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‎.dockerignore‎

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**/build/

‎README.md‎

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pip install -ve .
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```
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## Docker (GUI + GPU + HW add-ons)
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**Prereqs:** Docker + docker-compose, X11 on host, NVIDIA driver + NVIDIA Container Toolkit (legacy `runtime: nvidia`).
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**Layout:** `docker/Dockerfile`, overrides in `docker/compose/` (`base.yml`, `gui.yml`, `gpu.yml`, `hw.yml`).
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### Build the image
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`docker-compose -f docker/compose/base.yml build dev`
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### (GUI) allow X access (host)
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`export XAUTHORITY=${XAUTHORITY:-$HOME/.Xauthority}`
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`xhost +si:localuser:root`
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### Run container with GUI + GPU + HW and open a shell
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`docker-compose -f docker/compose/base.yml -f docker/compose/gui.yml -f docker/compose/gpu.yml -f docker/compose/hw.yml run --rm run bash`
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*(Use fewer `-f` files for lighter setups, e.g., GUI+GPU without HW.)*
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### Inside the container
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`pip install -ve extensions/rcs_fr3`
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`cd examples`
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`python fr3_env_cartesian_control.py`
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### Troubleshooting
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- **`nvidia-smi` missing in container:** ensure it exists on host at `/usr/bin/nvidia-smi` (GPU override bind-mounts it).
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- **GUI can’t open:** re-run the `xhost` command and confirm `$DISPLAY` is set on the host.
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## Usage
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The python package is called `rcs`.
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‎docker/Dockerfile‎

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# Base image with Python 3.10 and slim Debian system
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FROM python:3.10-slim
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# System configuration
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ENV DEBIAN_FRONTEND=noninteractive \
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PYTHONDONTWRITEBYTECODE=1 \
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PYTHONUNBUFFERED=1 \
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CMAKE_BUILD_PARALLEL_LEVEL=2 \
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SKBUILD_BUILD_OPTIONS="-j2" \
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MAKEFLAGS="-j2"
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#############################################################################
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# Explanation of environment variables:
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# DEBIAN_FRONTEND=noninteractive: Disables interactive prompts during apt-get install.
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# PYTHONDONTWRITEBYTECODE=1: Prevents .pyc files, keeping the image clean.
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# PYTHONUNBUFFERED=1: Ensures logs are written directly (no buffering).
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# Parallel build settings for CMake, scikit-build, and make to improve build speed.
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#############################################################################
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# create a user to avoid running as root
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RUN useradd -ms /bin/bash devuser
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WORKDIR /home/devuser
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USER root
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# Install system dependencies (from debian_deps.txt manually inlined here)
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RUN apt-get update && apt-get install -y --no-install-recommends \
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build-essential \
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cmake \
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git \
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libpoco-dev \
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libeigen3-dev \
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libxslt-dev \
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libcoin-dev \
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libccd-dev \
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libglfw3-dev \
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libboost-all-dev \
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liblzma-dev \
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libxml2-dev \
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libxslt1-dev \
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ninja-build \
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clang \
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clang-format \
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clang-tidy \
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pkg-config \
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curl \
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unzip \
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wget \
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libgl1 \
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patchelf \
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python3-venv \
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libegl-dev \
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libegl1-mesa-dev \
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libglib2.0-dev \
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mesa-utils \
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&& rm -rf /var/lib/apt/lists/*
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# Remove root password so `su -` works from devuser
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RUN passwd -d root
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# Switch to non-root user
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USER devuser
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# Set up virtual environment (Python)
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RUN python3 -m venv /home/devuser/.venv
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# prepend /home/devuser/.venv/bin to the existing PATH
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# This ensures that the virtual environment's Python and pip are used by default.
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ENV PATH="/home/devuser/.venv/bin:$PATH"
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# Copy project files into container
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COPY --chown=devuser . /home/devuser/project
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WORKDIR /home/devuser/project
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# Upgrade pip and install project build tools
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RUN pip install --upgrade pip setuptools
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RUN pip config --site set global.no-build-isolation false
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# Install development dependencies
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RUN pip install -r requirements_dev.txt
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# Install the package in editable mode (CMake + pybind11 + scikit-build-core triggered)
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RUN pip install -e . --no-cache-dir --verbose --no-build-isolation
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# Default command that runs when you start a container without specifying a command explicitly.
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CMD ["python3"]
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######################################################################
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# Build the Docker image with specified memory limits
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# To build the Docker image, run the following command in the terminal:
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# docker build --memory=4g --memory-swap=6g . -t rcs-dev
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######################################################################
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# --memory=4g Limit the build process to 4 GB of RAM
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# --memory-swap=6g Limit total memory (RAM + swap) to 6 GB
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# . Use current directory as the Docker context
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# -t rcs-dev Tag the built image as "rcs-dev"
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######################################################################
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######################################################################
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# Run the Docker container interactively (without GUI)
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# docker run -it --rm rcs-dev bash
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######################################################################
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# -it Interactive mode with TTY
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# --rm Automatically remove container after exit
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# rcs-dev Name of the Docker image to run
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# bash Start an interactive bash shell inside the container
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######################################################################
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######################################################################
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# Optional: Run GUI applications from inside the container
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# First, allow X11 connections from Docker containers:
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# Run this command on the host machine:
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# xhost +local:docker
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######################################################################
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# xhost A utility to manage X11 display access control
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# +local:docker Grant X11 access to Docker containers running locally
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######################################################################
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######################################################################
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# Run container with GUI support (no GPU)
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# docker run -it --rm -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix --shm-size=1g rcs-dev bash
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######################################################################
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# -e DISPLAY=$DISPLAY Pass display info to container
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# -v /tmp/.X11-unix:/tmp/.X11-unix Mount X11 socket for GUI apps
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# --shm-size=1g Increase shared memory for rendering (useful for tools like MuJoCo)
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######################################################################
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######################################################################
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# Run container with NVIDIA GPU support
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# Make sure NVIDIA Container Toolkit is installed and configured
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# For more info: https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html
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# docker run -it --rm --gpus all --runtime=nvidia -e NVIDIA_VISIBLE_DEVICES=all -e NVIDIA_DRIVER_CAPABILITIES=all -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix --shm-size=1g rcs-dev bash
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######################################################################
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# --gpus all Enable all available GPUs
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# --runtime=nvidia Use NVIDIA runtime for GPU access
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# -e NVIDIA_VISIBLE_DEVICES=all Expose all GPUs inside container
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# -e NVIDIA_DRIVER_CAPABILITIES=all Enable all GPU features (e.g., graphics, compute)
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# Other flags same as GUI setup above
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######################################################################
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# Run the container with NVIDIA GPU support and hardware access:
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# docker run -it --rm --gpus all --runtime=nvidia -e NVIDIA_VISIBLE_DEVICES=all -e NVIDIA_DRIVER_CAPABILITIES=all -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix --shm-size=2g --network host --privileged --cap-add=SYS_NICE --ulimit rtprio=99 --ulimit rttime=-1 --ulimit memlock=8428281856 -v /dev:/dev rcs-dev bash
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# Optional flags for running the container with hardware access:
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# --network host \ # Use the host's network stack (needed for low-latency ROS comms)
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# --privileged \ # Grant full device and kernel access (required for hardware control)
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# --cap-add=SYS_NICE \ # Allow processes to raise their scheduling priority
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# --ulimit rtprio=99 \ # Enable real-time priority up to 99
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# --ulimit rttime=-1 \ # Disable CPU time limit for real-time threads
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# --ulimit memlock=8428281856 \ # Lock ~8GB of RAM to prevent memory swapping
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# -v /dev:/dev \ # Mount all host devices for hardware access (e.g., Franka arm)

‎docker/compose/base.yml‎

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services:
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# Build / dev: the ONLY service that mounts your source
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dev:
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build:
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context: ${PWD} # run commands from the repo root
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dockerfile: docker/Dockerfile
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image: rcs-dev
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user: root
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tty: true
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stdin_open: true
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working_dir: /home/devuser/project
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volumes:
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- ${PWD}:/home/devuser/project
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environment:
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PYTHONUNBUFFERED: "1"
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shm_size: "2g"
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# Runtime base: NO source mount here
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run:
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image: rcs-dev
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user: root
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tty: true
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stdin_open: true
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working_dir: /home/devuser/project
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environment:
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PYTHONUNBUFFERED: "1"
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shm_size: "2g"
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# Build the dev image
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# docker-compose -f compose/base.yml build dev
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# Run the dev container
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# docker-compose \
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# -f compose/base.yml \
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# -f compose/gui.yml \
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# -f compose/gpu.yml \
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# -f compose/hw.yml \
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# run --rm run bash

‎docker/compose/gpu.yml‎

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version: "3.8"
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services:
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run:
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# Old-compose compatible GPU enablement
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runtime: nvidia
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privileged: true
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network_mode: host
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environment:
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NVIDIA_VISIBLE_DEVICES: "all"
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NVIDIA_DRIVER_CAPABILITIES: "all"
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‎docker/compose/gui.yml‎

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version: "3.8"
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services:
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run:
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environment:
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DISPLAY: ${DISPLAY}
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XAUTHORITY: /tmp/.docker.xauth
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QT_X11_NO_MITSHM: "1"
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volumes:
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- /tmp/.X11-unix:/tmp/.X11-unix:rw
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- ${XAUTHORITY:-$HOME/.Xauthority}:/tmp/.docker.xauth:ro

‎docker/compose/hw.yml‎

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version: "3.8"
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services:
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run:
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privileged: true
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volumes:
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- /dev:/dev
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cap_add:
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- SYS_NICE
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ulimits:
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rtprio: 99
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rttime: -1
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memlock:
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soft: 8428281856
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hard: 8428281856
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# If you prefer least-privilege instead of /dev:/dev, swap in specific devices:
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# devices:
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# - /dev/video0:/dev/video0
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# - /dev/ttyUSB0:/dev/ttyUSB0
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# - /dev/dri:/dev/dri

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