docker-finroc_deps

An ubuntu image with basic dependencies to build and run a finroc environment.

Image on Docker Hub

Prerequisites

• docker
• optional docker-compose

Running

Getting the container image

docker pull finrocunoffical/finroc_deps:latest or docker pull finrocunoffical/finroc_deps:v1 or docker pull finrocunoffical/finroc_deps:extra_libs

Via Docker

• docker run -v ./finroc_user:/home/finroc_user -v /etc/localtime:/etc/localtime:ro -i -t finrocunoffical/finroc_deps bash
  • -v /etc/localtime:/etc/localtime:ro is optional, but you can get compile errors (unit tests) related to time zone

Via Docker compose

• docker-compose run finroc bash

Note: Adjust volumes if necessary!

By default (for docker-compose) the folder ./finroc_user (relative to the current console) is mounted as /home/finroc_user within the container

Tip:

When setting up a folder for use as volume, chmod -R 777 <folder> allows any user to write to this folder. This allows you to edit files from within the container and from your host computer.

Running a docker container WITHOUT any volumes will not save any data at all between runs. All user data is lost !

Extending image with further packages

Write a new Dockerfile

FROM finrocunoffical/finroc_deps:latest

USER root

RUN apt-get update && \
    DEBIAN_FRONTEND=noninteractive apt-get install -y --no-install-recommends  -o=Dpkg::Use-Pty=0 \
    <YOUR_NEW_PACKAGES> \
    && rm -rf /var/lib/apt/lists/*  
    
USER finroc_user

Running Finroc

We will not provide a finroc installation here, only the system and dependencies to build and run it. Some finroc libraries or projects may need additional dependencies. You should be notified about them when building.

You can download your finroc installation from within the container or download it externally to the folder mounted at /home/finroc_user. You can treat the environment within the container as a normal linux home. Thus you can create authorization files for mercurial (.hgrc) or git if necessary within /home/finroc_user.

X11 Session for graphical interfaces or simulation

https://github.com/finrocunoffical/docker-finroc_deps-x11

Using Eclipse to build inside the docker container

• docker pull finrocunoffical/finroc_deps:latest to get the latest image
• Go to Project -> Properties, then C/C++ Build -> Settings and in the Container Settigns tab check Build inside Docker image
  • Select the docker image finrocunoffical/finroc_deps:latest
  • Add your folder that is mounted at /home/finroc_user or /home/finroc_user/finroc
• Now you should be able to build within eclipse using this Docker image

Using eclipse to run program inside container

• Install C/C++ Docker Container Launch Support under Help -> Install New Software
• Add new "run configuration" as C/C++ Container Launcher
• Go to tab "Container" and select Image finrocunofficial/finroc_deps
• In tab "Main" select the "C/C++ Application" to launch (recommended to use "Search Project" function)

Using eclipse to debug inside container

• Install C/C++ Docker Container Launch Support under Help -> Install New Software
• Add new "Debug configuration" as C/C++ Container Launcher
• Go to tab "Container" and select Image finrocunofficial/finroc_deps
• In tab "Main" select the "C/C++ Application" to launch (recommended to use "Search Project" function)

Connecting from one container to another

You might want to connect from one container to another, when e.g. debugging an application that connects to a program running in another container. Using the docker default network bridge it is possible to connect to locally running containers. Currently this process is rather cumbersome.

• docker ps to get a list of all docker containers. Find the container ID you want to connect to
• docker inspect <ID> | grep '"IPAddress"' | head -n 1 to get the IP address of that container
• You can connect to that container from other containers at this IP