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noetic docker setup (#4)
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‎.gitignore‎

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*.mov
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*.wmv
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# Local directories
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.etc/

‎catkin_workspace.vcs‎

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repositories:
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elevation_mapping:
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type: git
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url: https://github.com/leggedrobotics/elevation_mapping.git
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version: master
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gtsam_catkin:
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type: git
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url: https://github.com/leggedrobotics/gtsam_catkin.git
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version: main
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holistic_fusion:
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type: git
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url: [email protected]:leggedrobotics/holistic_fusion.git
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version: feature/docker
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kindr:
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type: git
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url: https://github.com/leggedrobotics/kindr.git
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version: master
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kindr_ros:
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type: git
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url: https://github.com/leggedrobotics/kindr_ros.git
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version: master

‎docker/bin/attach_to_latest_container.sh‎

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#!/bin/bash
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#=============================================================================
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# Copyright (C) 2025, Robotic Systems Lab, ETH Zurich
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# All rights reserved.
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# http://www.rsl.ethz.ch
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#
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# This software is distributed WITHOUT ANY WARRANTY; without even the
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# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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# See the License for more information.
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#=============================================================================
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# Authors: Julian Nubert, [email protected]
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# Lorenzo Terenzi, [email protected]
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#=============================================================================
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LATEST_CONTAINER_NAME=$(docker ps --latest --format "{{.Names}}")
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echo "Name of latest docker container is $LATEST_CONTAINER_NAME. Attaching to it..."
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docker exec -it $LATEST_CONTAINER_NAME /entrypoint.sh

‎docker/bin/run_ros1_noetic_image.sh‎

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#!/bin/bash
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#=============================================================================
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# Copyright (C) 2025, Robotic Systems Lab, ETH Zurich
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# All rights reserved.
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# http://www.rsl.ethz.ch
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#
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# This software is distributed WITHOUT ANY WARRANTY; without even the
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# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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# See the License for more information.
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#=============================================================================
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# Authors: Julian Nubert, [email protected]
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# Lorenzo Terenzi, [email protected]
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#=============================================================================
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# Exits if error occurs
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set -e
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# Image name
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IMAGE="rslethz/holistic_fusion_ros1:latest"
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# Entry point
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ENTRYPOINT="/entrypoint.sh"
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# Graphical output
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XSOCK=/tmp/.X11-unix
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XAUTH=/tmp/.docker.xauth
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# Create symlinks to user configs within the build context.
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mkdir -p .etc && cd .etc
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ln -sf /etc/passwd .
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ln -sf /etc/shadow .
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ln -sf /etc/group .
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cd ..
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# Launch a container from the prebuilt image.
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echo -e "[run.sh]: \e[1;32mRunning docker image '$IMAGE' with entrypoint $ENTRYPOINT.\e[0m"
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echo "---------------------"
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RUN_COMMAND="docker run \
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$ARGS \
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-v /lib/modules:/lib/modules \
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--volume=$XSOCK:$XSOCK:rw \
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--volume=$XAUTH:$XAUTH:rw \
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--env="QT_X11_NO_MITSHM=1" \
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--env="XAUTHORITY=$XAUTH" \
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--env="DISPLAY=$DISPLAY" \
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--cap-add=ALL \
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--privileged \
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--net=host \
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-eHOST_USERNAME=$(whoami) \
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-v$HOME:$HOME \
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-v$(pwd)/.etc/shadow:/etc/shadow \
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-v$(pwd)/.etc/passwd:/etc/passwd \
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-v$(pwd)/.etc/group:/etc/group \
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-v/etc/localtime:/etc/localtime:ro \
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--entrypoint=$ENTRYPOINT
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--shm-size=2gb
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-it $IMAGE"
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# Final command
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echo -e "[run.sh]: \e[1;32mThe final run command is\n\e[0;35m$RUN_COMMAND\e[0m."
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$RUN_COMMAND
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# EOF

‎docker/ros1_noetic/README.md‎

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# Docker Setup for Holistic Fusion
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We provide docker images for running Holistic Fusion in a controlled environment.
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The ROS1 Image is based on Ubuntu 20.04 and includes the necessary dependencies for running Holistic Fusion.
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The ROS2 Image is based on Ubuntu 22.04 and will be released in the future.
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## ROS1 Noetic Image
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To build the ROS1 Noetic image, run the following command from the root of the repository:
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```bash
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docker/bin/build_ros1_noetic_image.sh
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```

‎docker/ros1_noetic/base.Dockerfile‎

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#=============================================================================
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# Copyright (C) 2025, Robotic Systems Lab, ETH Zurich
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# All rights reserved.
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# http://www.rsl.ethz.ch
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#
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# This software is distributed WITHOUT ANY WARRANTY; without even the
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# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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# See the License for more information.
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#=============================================================================
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# Authors: Julian Nubert, [email protected]
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# Lorenzo Terenzi, [email protected]
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#=============================================================================
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#==
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# Foundation
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#==
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ARG UBUNTU_VERSION=20.04
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FROM ubuntu:${UBUNTU_VERSION}
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# Suppresses interactive calls to APT
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ENV DEBIAN_FRONTEND="noninteractive"
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# Updates
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RUN apt update && apt upgrade -y
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# ----------------------------------------------------------------------------
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#==
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# System APT base dependencies and utilities
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#==
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COPY submodules/base.sh /home/base.sh
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RUN chmod +x /home/base.sh
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RUN /home/base.sh && rm /home/base.sh
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#==
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# ROS
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#==
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# Version
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ARG ROS=noetic
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COPY submodules/ros_1.sh /home/ros_1.sh
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RUN chmod +x /home/ros_1.sh
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RUN /home/ros_1.sh && rm /home/ros_1.sh
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#==
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# GTSAM
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#==
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COPY submodules/gtsam.sh /home/gtsam.sh
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RUN chmod +x /home/gtsam.sh
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RUN /home/gtsam.sh && rm /home/gtsam.sh
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# ----------------------------------------------------------------------------
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#==
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# Permissions
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#==
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RUN chmod ugo+rwx /software
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#==
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# Environment
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#==
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COPY ros1_noetic/bashrc /etc/bash.bashrc
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RUN chmod a+rwx /etc/bash.bashrc
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# ----------------------------------------------------------------------------
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#==
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# Execution
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#==
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COPY ros1_noetic/entrypoint.sh /entrypoint.sh
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RUN chmod +x /entrypoint.sh
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#ENTRYPOINT ["/entrypoint.sh"]
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CMD []
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# EOF

‎docker/ros1_noetic/bashrc‎

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#!/bin/bash
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#=============================================================================
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# Copyright (C) 2025, Robotic Systems Lab, ETH Zurich
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# All rights reserved.
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# http://www.rsl.ethz.ch
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#
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# This software is distributed WITHOUT ANY WARRANTY; without even the
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# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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# See the License for more information.
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#=============================================================================
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# Authors: Julian Nubert, [email protected]
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# Lorenzo Terenzi, [email protected]
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#=============================================================================
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# If not running interactively, don't do anything
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case $- in
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*i*) ;;
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*) return;;
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esac
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# don't put duplicate lines or lines starting with space in the history.
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HISTCONTROL=ignoreboth
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# append to the history file, don't overwrite it
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shopt -s histappend
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# for setting history length see HISTSIZE and HISTFILESIZE in bash(1)
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HISTSIZE=1000
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HISTFILESIZE=2000
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# check the window size after each command and, if necessary,
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# update the values of LINES and COLUMNS.
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shopt -s checkwinsize
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# make less more friendly for non-text input files, see lesspipe(1)
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[ -x /usr/bin/lesspipe ] && eval "$(SHELL=/bin/sh lesspipe)"
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# set variable identifying the chroot you work in (used in the prompt below)
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if [ -z "${debian_chroot:-}" ] && [ -r /etc/debian_chroot ]; then
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debian_chroot=$(cat /etc/debian_chroot)
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fi
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# set a fancy prompt (non-color, unless we know we "want" color)
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case "$TERM" in
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xterm-color|*-256color) color_prompt=yes;;
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esac
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# uncomment for a colored prompt, if the terminal has the capability; turned
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# off by default to not distract the user: the focus in a terminal window
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# should be on the output of commands, not on the prompt
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#force_color_prompt=yes
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if [ -n "$force_color_prompt" ]; then
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if [ -x /usr/bin/tput ] && tput setaf 1 >&/dev/null; then
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# We have color support; assume it's compliant with Ecma-48
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# (ISO/IEC-6429). (Lack of such support is extremely rare, and such
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# a case would tend to support setf rather than setaf.)
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color_prompt=yes
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else
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color_prompt=
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fi
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fi
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if [ "$color_prompt" = yes ]; then
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PS1='${debian_chroot:+($debian_chroot)}\[\033[01;32m\]\u@\h\[\033[00m\]:\[\033[01;34m\]\w\[\033[00m\]\$ '
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else
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PS1='${debian_chroot:+($debian_chroot)}\u@\h:\w\$ '
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fi
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unset color_prompt force_color_prompt
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# If this is an xterm set the title to user@host:dir
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case "$TERM" in
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xterm*|rxvt*)
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PS1="\[\e]0;${debian_chroot:+($debian_chroot)}\u@\h: \w\a\]$PS1"
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;;
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*)
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;;
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esac
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# enable color support of ls and also add handy aliases
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if [ -x /usr/bin/dircolors ]; then
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test -r ~/.dircolors && eval "$(dircolors -b ~/.dircolors)" || eval "$(dircolors -b)"
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alias ls='ls --color=auto'
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alias grep='grep --color=auto'
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alias fgrep='fgrep --color=auto'
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alias egrep='egrep --color=auto'
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fi
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# some more ls aliases
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alias ll='ls -alF'
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alias la='ls -A'
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alias l='ls -CF'
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# Add an "alert" alias for long running commands. Use like so:
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# sleep 10; alert
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alias alert='notify-send --urgency=low -i "$([ $? = 0 ] && echo terminal || echo error)" "$(history|tail -n1|sed -e '\''s/^\s*[0-9]\+\s*//;s/[;&|]\s*alert$//'\'')"'
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# Alias definitions.
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if [ -f ~/.bash_aliases ]; then
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. ~/.bash_aliases
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fi
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# enable programmable completion features (you don't need to enable
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# this, if it's already enabled in /etc/bash.bashrc and /etc/profile
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# sources /etc/bash.bashrc).
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if ! shopt -oq posix; then
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if [ -f /usr/share/bash-completion/bash_completion ]; then
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. /usr/share/bash-completion/bash_completion
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elif [ -f /etc/bash_completion ]; then
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. /etc/bash_completion
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fi
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fi
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#==
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# Fuzzy search
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#==
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# Install fuzzy-search if missing
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if [[ ! -d ~/.fzf ]]
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then
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git clone --depth 1 https://github.com/junegunn/fzf.git ~/.fzf && ~/.fzf/install
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fi
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# Enable fuzzy search in terminal
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[ -f ~/.fzf.bash ] && source ~/.fzf.bash
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#==
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# Git
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#==
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parse_git_branch() {
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git branch 2> /dev/null | sed -e '/^[^*]/d' -e 's/* \(.*\)/(\1)/'
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}
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export PS1=$PS1"\[\e[91m\]\$(parse_git_branch)\[\e[00m\]$ "
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export PS1="(D) "$PS1
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#==
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# ROS
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#==
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# Source the ROS distribution file to configure the shell environment.
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FILE=/opt/ros/noetic/setup.bash
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if test -f "$FILE";
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then
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echo "$FILE exists. Therefore sourcing noetic."
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source $FILE
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else
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echo "$FILE does not exist. Therefore not sourcing noetic."
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fi
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# EOF

‎docker/ros1_noetic/entrypoint.sh‎

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#!/bin/bash
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#=============================================================================
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# Copyright (C) 2025, Robotic Systems Lab, ETH Zurich
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# All rights reserved.
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# http://www.rsl.ethz.ch
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#
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# This software is distributed WITHOUT ANY WARRANTY; without even the
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# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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# See the License for more information.
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#=============================================================================
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# Authors: Vassilios Tsounis, [email protected]
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# Julian Nubert, [email protected]
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#=============================================================================
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figlet m545
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#==
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# Log into the container as the host user
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#==
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# set home for host user
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export HOME=/home/$HOST_USERNAME
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export USER=$HOST_USERNAME
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cd $HOME
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# Enable sudo access without password
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echo "root ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers
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echo "$HOST_USERNAME ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers
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# Proceed as host user with superuser permissions
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sudo -E -u $HOST_USERNAME bash --rcfile /etc/bash.bashrc
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# EOF

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