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Fix docker files and compose #164

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Merged
andrewjong merged 1 commit into from
Nov 26, 2024
Merged

Fix docker files and compose #164

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4 changes: 2 additions & 2 deletions docker-compose.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -6,11 +6,11 @@ include:

services:
docs: # live mkdocs container. open localhost:8000 in browser to see the docs
image: mkdocs_with_plugins
image: airlab-storage.andrew.cmu.edu:5001/shared/mkdocs_with_plugins
build:
dockerfile: docs/Dockerfile
tags:
- mkdocs_with_plugins
- airlab-storage.andrew.cmu.edu:5001/shared/mkdocs_with_plugins
container_name: docs
ports:
- "8000:8000"
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6 changes: 3 additions & 3 deletions simulation/isaac-sim/docker/Dockerfile.isaac-ros
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Expand Up @@ -63,12 +63,12 @@ RUN cd /tmp/ && \
rm -rf /tmp/IsaacSim-ros_workspaces-main

# copy over the AscentAeroSystemsSITLPackage
COPY docker/isaac-sim/AscentAeroSystemsSITLPackage /AscentAeroSystemsSITLPackage
COPY sitl_integration/AscentAeroSystemsSITLPackage /AscentAeroSystemsSITLPackage

# the user.config.json file specifies to auto load the SITL extensions
COPY docker/isaac-sim/user.config.json /root/.local/share/ov/data/Kit/Isaac-Sim/4.1/user.config.json
COPY docker/user.config.json /root/.local/share/ov/data/Kit/Isaac-Sim/4.1/user.config.json

COPY ros_ws/fastdds.xml /isaac-sim/fastdds.xml
COPY docker/fastdds.xml /isaac-sim/fastdds.xml

# Cleanup. Prevent people accidentally doing git commits as root in Docker
RUN apt purge -y git && apt autoremove -y \
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2 changes: 1 addition & 1 deletion simulation/isaac-sim/docker/docker-compose.yaml
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@@ -1,7 +1,7 @@
services:
# ==============================================================================
isaac-sim:
image: &isaac-sim-image airlab-storage.andrew.cmu.edu:5001/shared/isaac-sim_ros-humble:v1.0.2
image: &isaac-sim-image airlab-storage.andrew.cmu.edu:5001/shared/isaac-sim_ros-humble:v1.0.3
build:
context: ../
dockerfile: docker/Dockerfile.isaac-ros
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23 changes: 23 additions & 0 deletions simulation/isaac-sim/docker/fastdds.xml
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@@ -0,0 +1,23 @@
<?xml version="1.0" encoding="UTF-8" ?>

<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles" >
<transport_descriptors>
<transport_descriptor>
<transport_id>UdpTransport</transport_id>
<type>UDPv4</type>
</transport_descriptor>
</transport_descriptors>

<participant profile_name="udp_transport_profile" is_default_profile="true">
<rtps>
<userTransports>
<transport_id>UdpTransport</transport_id>
</userTransports>
<!-- Disables shared memory; required for Isaac Sim ROS2 Extension to transmit topics, especially between Docker containers or over the network -->
<!-- this is because if shared memory is enabled, ROS2 looks up message pointers thinking it's all on the same machine when it's not -->
<!-- https://answers.ros.org/question/370595/ros2-foxy-nodes-cant-communicate-through-docker-container-border/ -->
<!-- https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_ros.html#isaac-sim-app-install-ros:~:text=Run%20export%20FASTRTPS_DEFAULT_PROFILES_FILE%3D~/.ros/fastdds.xml%20in%20the%20terminals%20that%20will%20use%20ROS%202%20functions -->
<useBuiltinTransports>false</useBuiltinTransports>
</rtps>
</participant>
</profiles>