repair docker

README.md

@@ -77,26 +77,13 @@ Add the following to your `~/.bashrc` (adjust the variables for your setup):
 ```
 export ROS_DOMAIN_ID=73                         # any free domain id
 export ROS_DISTRO=jazzy                         # {jazzy, humble}
-export MOVENSYS_ROS_VERSION=isaac-ros_4.1       # {isaac-ros_4.1, isaac-ros_3.2, general}
 export CPU_ARCH=amd64                           # {amd64, arm64}
-export NAVIGATION_MODEL=diffbot                 # {diffbot}
-
-export HOST_USER_UID=$(id -u)
-export HOST_USER_GID=$(id -g)
 export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
 
-export MOVENSYS_NAVIGATION_PACKAGES=~/workspaces/movensys_ws/src/movensys-navigation
-export ISAAC_ROS_WS=~/workspaces/isaac_ros-dev
+export MOVENSYS_ROS_VERSION=isaac-ros_4.1       # {general, isaac-ros_4.1, isaac-ros_3.2}
+export NAVIGATION_MODEL=diffbot                 # {diffbot}
 
-nros() {
-  if [ $# -eq 0 ]; then
-    docker exec -it -u admin movensys_navigation_container \
-      bash -lc 'source /opt/ros/${ROS_DISTRO}/setup.bash && source /home/admin/workspaces/movensys_ws/install/setup.bash && exec bash -i'
-  else
-    docker exec -it -u admin movensys_navigation_container \
-      bash -lc "source /opt/ros/\${ROS_DISTRO}/setup.bash && source /home/admin/workspaces/movensys_ws/install/setup.bash && $*"
-  fi
-}
+source ~/workspaces/movensys_ws/src/movensys-navigation/docker/nros.bash
 ```
 
 ```
@@ -128,7 +115,7 @@ git clone https://github.com/movensys/movensys-navigation.git
 ### 4. Build and start the container
 
 ```
-cd ${MOVENSYS_NAVIGATION_PACKAGES}/docker
+cd ~/workspaces/movensys_ws/src/movensys-navigation/docker
 docker compose -f ${MOVENSYS_ROS_VERSION}.yaml -f movensys_navigation.${CPU_ARCH}.yaml down
 docker compose -f ${MOVENSYS_ROS_VERSION}.yaml -f movensys_navigation.${CPU_ARCH}.yaml build
 docker compose -f ${MOVENSYS_ROS_VERSION}.yaml -f movensys_navigation.${CPU_ARCH}.yaml up -d

doc/1_setup.md

@@ -1,30 +1,16 @@
 # Host Environment Setup
 
-## 1. Bashrc Configuration
-- Add the following environment variables to your `~/.bashrc`:
+## 1. Bashrc Configuration [~/.bashrc]
 ```
 export ROS_DOMAIN_ID=73                         #use any number
 export ROS_DISTRO=jazzy                         #support {jazzy, humble}
-export MOVENSYS_ROS_VERSION=isaac-ros_4.1       #support {isaac-ros_4.1, isaac-ros_3.2, general} 
 export CPU_ARCH=amd64                           #support {amd64, arm64}
-export NAVIGATION_MODEL=diffbot                 #support {diffbot}
-
-export HOST_USER_UID=$(id -u)
-export HOST_USER_GID=$(id -g)
 export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
 
-export MOVENSYS_NAVIGATION_PACKAGES=~/workspaces/movensys_ws/src/movensys-navigation
-export ISAAC_ROS_WS=~/workspaces/isaac_ros-dev
+export MOVENSYS_ROS_VERSION=isaac-ros_4.1       #support {general, isaac-ros_4.1, isaac-ros_3.2}
+export NAVIGATION_MODEL=diffbot                 #support {diffbot}
 
-nros() {
-  if [ $# -eq 0 ]; then
-    docker exec -it -u admin movensys_navigation_container \
-      bash -lc 'source /opt/ros/${ROS_DISTRO}/setup.bash && source /home/admin/workspaces/movensys_ws/install/setup.bash && exec bash -i'
-  else
-    docker exec -it -u admin movensys_navigation_container \
-      bash -lc "source /opt/ros/\${ROS_DISTRO}/setup.bash && source /home/admin/workspaces/movensys_ws/install/setup.bash && $*"
-  fi
-}
+source ~/workspaces/movensys_ws/src/movensys-navigation/docker/nros.bash
 ```
 ```
 xhost +local:docker
@@ -44,7 +30,7 @@ sudo sysctl -p /etc/sysctl.d/99-network-buffers.conf
 sysctl net.core.rmem_max net.core.rmem_default net.core.wmem_max net.core.wmem_default
 ```
 
-## 4. Clone Repository
+## 3. Clone Repository
 ```
 mkdir -p  ~/workspaces/movensys_ws/src
 cd ~/workspaces/movensys_ws/src

doc/2_docker.md

@@ -5,10 +5,10 @@ please follow this isaac-ros setup first:
 
 # 2. Docker setup
 ```
-cd ${MOVENSYS_NAVIGATION_PACKAGES}/docker 
+cd ~/workspaces/movensys_ws/src/movensys-navigation/docker
 docker compose -f ${MOVENSYS_ROS_VERSION}.yaml -f movensys_navigation.${CPU_ARCH}.yaml down
 docker compose -f ${MOVENSYS_ROS_VERSION}.yaml -f movensys_navigation.${CPU_ARCH}.yaml build
-docker compose -f ${MOVENSYS_ROS_VERSION}.yaml -f movensys_navigation.${CPU_ARCH}.yaml up -d 
+docker compose -f ${MOVENSYS_ROS_VERSION}.yaml -f movensys_navigation.${CPU_ARCH}.yaml up -d
 ```
 
 # 3. Checking Docker

docker/.env

@@ -1,4 +1,6 @@
 CONTAINER_NAME=movensys_navigation_container
 IMAGE_NAME=movensys_navigation_image
-CYCLONEDDS_DIR=${MOVENSYS_NAVIGATION_PACKAGES}/docker/cyclonedds.xml
-USER=admin
+
+MOVENSYS_NAVIGATION_PACKAGES=..
+ISAAC_ROS_WS=../../../../isaac_ros-dev
+CYCLONEDDS_DIR=./cyclonedds.xml

docker/general.yaml

@@ -1,3 +1,5 @@
+name: movensys_navigation
+
 services:
   movensys_navigation:
     restart: unless-stopped
@@ -7,8 +9,6 @@ services:
       network: host
       args:
         - ROS_DISTRO=${ROS_DISTRO:-humble}
-        - HOST_USER_UID=${HOST_USER_UID:-1000}
-        - HOST_USER_GID=${HOST_USER_GID:-1000}
     image: ${IMAGE_NAME}
     container_name: ${CONTAINER_NAME}
     privileged: true
@@ -20,9 +20,7 @@ services:
     tty: true
     environment:
       - ROS_DOMAIN_ID=${ROS_DOMAIN_ID}
-      - HOST_USER_UID=${HOST_USER_UID}
-      - HOST_USER_GID=${HOST_USER_GID}
-      - USER=${USER}
+      - USER=admin
       - RMW_IMPLEMENTATION=${RMW_IMPLEMENTATION}
       - CYCLONEDDS_URI=file:///home/admin/workspaces/cyclonedds.xml
       - DISPLAY
@@ -38,7 +36,23 @@ services:
     devices:
       - /dev/dri
     command: ["/bin/bash","-lc",
-              "sudo chown -R admin:admin /home/admin/workspaces/movensys_ws && \
+              "SRC=/home/admin/workspaces/movensys_ws/src/movensys-navigation && \
+               DDS=/home/admin/workspaces/cyclonedds.xml && \
+               HOST_UID=$$(stat -c %u $$SRC) && HOST_GID=$$(stat -c %g $$SRC) && \
+               if [ \"$$HOST_UID\" = 0 ]; then \
+                 echo \"WARN: $$SRC is root-owned, keeping admin $$(id -u admin):$$(id -g admin)\"; \
+                 HOST_UID=$$(id -u admin); HOST_GID=$$(id -g admin); fi && \
+               echo ====== Map admin to host $$HOST_UID:$$HOST_GID ======= && \
+               if [ \"$$HOST_GID\" != \"$$(id -g admin)\" ]; then \
+                 sudo groupmod -g $$HOST_GID admin \
+                   || echo \"NOTE: groupmod reported an error, continuing\"; fi && \
+               if [ \"$$HOST_UID\" != \"$$(id -u admin)\" ]; then \
+                 sudo usermod -u $$HOST_UID admin \
+                   || echo \"NOTE: usermod home chown skipped (read-only mounts)\"; fi && \
+               sudo find /home/admin -xdev \
+                 -path $$SRC -prune -o -path $$DDS -prune -o \
+                 ! -user admin -exec chown -h admin:admin {} + \
+                   || echo \"WARN: ownership fixup under /home/admin incomplete\" && \
                source /opt/ros/${ROS_DISTRO}/setup.bash && \
 
                cd /home/admin/workspaces/movensys_ws/src && \

docker/isaac-ros_3.2.yaml

@@ -1,3 +1,5 @@
+name: movensys_navigation
+
 services:
   movensys_navigation:
     restart: unless-stopped
@@ -14,14 +16,22 @@ services:
     ipc: host
     runtime: nvidia
     working_dir: /home/admin/workspaces/movensys_ws
-    entrypoint: ["/usr/local/bin/scripts/workspace-entrypoint.sh"]
+    entrypoint:
+      - /bin/bash
+      - -c
+      - |
+        SRC=/home/admin/workspaces/movensys_ws/src/movensys-navigation
+        HOST_USER_UID=$$(stat -c %u $$SRC 2>/dev/null || echo 1000)
+        HOST_USER_GID=$$(stat -c %g $$SRC 2>/dev/null || echo 1000)
+        if [ "$$HOST_USER_UID" = 0 ]; then HOST_USER_UID=1000; HOST_USER_GID=1000; fi
+        export HOST_USER_UID HOST_USER_GID
+        exec /usr/local/bin/scripts/workspace-entrypoint.sh "$$@"
+      - --
     stdin_open: true
     tty: true
     environment:
       - ROS_DOMAIN_ID=${ROS_DOMAIN_ID}
-      - HOST_USER_UID=${HOST_USER_UID}
-      - HOST_USER_GID=${HOST_USER_GID}
-      - USER=${USER}
+      - USER=admin
       - RMW_IMPLEMENTATION=${RMW_IMPLEMENTATION}
       - ISAAC_ROS_WS=/home/admin/workspaces/isaac_ros-dev
       - CYCLONEDDS_URI=file:///home/admin/workspaces/cyclonedds.xml
@@ -47,7 +57,24 @@ services:
       - |
         set -e
         [ -f ~/.bashrc ] && source ~/.bashrc || true
-        sudo chown -R admin:admin /home/admin/workspaces/movensys_ws
+        SRC=/home/admin/workspaces/movensys_ws/src/movensys-navigation
+        DDS=/home/admin/workspaces/cyclonedds.xml
+        HOST_UID=$$(stat -c %u $$SRC); HOST_GID=$$(stat -c %g $$SRC)
+        if [ "$$HOST_UID" = 0 ]; then
+          echo "WARN: $$SRC is root-owned, keeping admin $$(id -u admin):$$(id -g admin)"
+          HOST_UID=$$(id -u admin); HOST_GID=$$(id -g admin)
+        fi
+        echo ====== Map admin to host $$HOST_UID:$$HOST_GID =======
+        if [ "$$HOST_GID" != "$$(id -g admin)" ]; then
+          sudo groupmod -g $$HOST_GID admin || echo "NOTE: groupmod reported an error, continuing"
+        fi
+        if [ "$$HOST_UID" != "$$(id -u admin)" ]; then
+          sudo usermod -u $$HOST_UID admin || echo "NOTE: usermod home chown skipped (read-only mounts)"
+        fi
+        sudo find /home/admin -xdev \
+          -path $$SRC -prune -o -path $$DDS -prune -o \
+          ! -user admin -exec chown -h admin:admin {} + \
+          || echo "WARN: ownership fixup under /home/admin incomplete"
         source /opt/ros/humble/setup.bash
 
         echo "ISAAC_ROS_WS=$$ISAAC_ROS_WS"

docker/isaac-ros_4.1.yaml

@@ -1,3 +1,5 @@
+name: movensys_navigation
+
 services:
   movensys_navigation:
     restart: unless-stopped
@@ -14,14 +16,22 @@ services:
     ipc: host
     runtime: nvidia
     working_dir: /home/admin/workspaces/movensys_ws
-    entrypoint: ["/usr/local/bin/scripts/workspace-entrypoint.sh"]
+    entrypoint:
+      - /bin/bash
+      - -c
+      - |
+        SRC=/home/admin/workspaces/movensys_ws/src/movensys-navigation
+        HOST_USER_UID=$$(stat -c %u $$SRC 2>/dev/null || echo 1000)
+        HOST_USER_GID=$$(stat -c %g $$SRC 2>/dev/null || echo 1000)
+        if [ "$$HOST_USER_UID" = 0 ]; then HOST_USER_UID=1000; HOST_USER_GID=1000; fi
+        export HOST_USER_UID HOST_USER_GID
+        exec /usr/local/bin/scripts/workspace-entrypoint.sh "$$@"
+      - --
     stdin_open: true
     tty: true
     environment:
       - ROS_DOMAIN_ID=${ROS_DOMAIN_ID}
-      - HOST_USER_UID=${HOST_USER_UID}
-      - HOST_USER_GID=${HOST_USER_GID}
-      - USER=${USER}
+      - USER=admin
       - RMW_IMPLEMENTATION=${RMW_IMPLEMENTATION}
       - ISAAC_ROS_WS=/home/admin/workspaces/isaac_ros-dev
       - CYCLONEDDS_URI=file:///home/admin/workspaces/cyclonedds.xml
@@ -42,7 +52,23 @@ services:
     devices:
       - /dev/dri
     command: ["/bin/bash","-lc",
-              "sudo chown -R admin:admin /home/admin/workspaces/movensys_ws && \
+              "SRC=/home/admin/workspaces/movensys_ws/src/movensys-navigation && \
+               DDS=/home/admin/workspaces/cyclonedds.xml && \
+               HOST_UID=$$(stat -c %u $$SRC) && HOST_GID=$$(stat -c %g $$SRC) && \
+               if [ \"$$HOST_UID\" = 0 ]; then \
+                 echo \"WARN: $$SRC is root-owned, keeping admin $$(id -u admin):$$(id -g admin)\"; \
+                 HOST_UID=$$(id -u admin); HOST_GID=$$(id -g admin); fi && \
+               echo ====== Map admin to host $$HOST_UID:$$HOST_GID ======= && \
+               if [ \"$$HOST_GID\" != \"$$(id -g admin)\" ]; then \
+                 sudo groupmod -g $$HOST_GID admin \
+                   || echo \"NOTE: groupmod reported an error, continuing\"; fi && \
+               if [ \"$$HOST_UID\" != \"$$(id -u admin)\" ]; then \
+                 sudo usermod -u $$HOST_UID admin \
+                   || echo \"NOTE: usermod home chown skipped (read-only mounts)\"; fi && \
+               sudo find /home/admin -xdev \
+                 -path $$SRC -prune -o -path $$DDS -prune -o \
+                 ! -user admin -exec chown -h admin:admin {} + \
+                   || echo \"WARN: ownership fixup under /home/admin incomplete\" && \
                source /opt/ros/jazzy/setup.bash && \
 
                cd /home/admin/workspaces/movensys_ws/src && \

docker/nros.bash

@@ -0,0 +1,18 @@
+MOVENSYS_NAVIGATION_CONTAINER="${MOVENSYS_NAVIGATION_CONTAINER:-movensys_navigation_container}"
+MOVENSYS_NAVIGATION_WORKSPACE="${MOVENSYS_NAVIGATION_WORKSPACE:-/home/admin/workspaces/movensys_ws}"
+
+nros() {
+  local flags=(-i)
+  [ -t 0 ] && flags=(-it)
+
+  local setup='source /opt/ros/${ROS_DISTRO}/setup.bash'
+  setup="${setup} && source ${MOVENSYS_NAVIGATION_WORKSPACE}/install/setup.bash"
+
+  if [ $# -eq 0 ]; then
+    docker exec "${flags[@]}" -u admin "${MOVENSYS_NAVIGATION_CONTAINER}" \
+      bash -lc "${setup} && exec bash -i"
+  else
+    docker exec "${flags[@]}" -u admin "${MOVENSYS_NAVIGATION_CONTAINER}" \
+      bash -lc "${setup} && \"\$@\"" nros "$@"
+  fi
+}