Replace start-docker.sh with docker-compose.yml (#422)

Author: smartin015

_scripts/docker-compose.yml

@@ -0,0 +1,45 @@
+# Example command:
+#
+#   DOCKER_IMAGE=humble-source docker-compose run gpu
+
+x-base-cpu: &base-cpu
+  privileged: true
+  network_mode: host
+  environment:
+    QT_X11_NO_MITSHM: 1
+  volumes:
+    - /tmp/.X11-unix:/tmp/.X11-unix
+    - ~/.Xauthority:/root/.Xauthority
+  command: /bin/bash
+
+x-base-gpu: &base-gpu
+  <<: *base-cpu
+  deploy:
+    resources:
+      reservations:
+        devices:
+          - driver: nvidia
+            count: 1
+            capabilities: [gpu]
+  environment:
+    NVIDIA_VISIBLE_DEVICES: all
+    NVIDIA_DRIVER_CAPABILITIES: all
+
+services:
+  cpu:
+    <<: *base-cpu
+    image: moveit/moveit2:$DOCKER_IMAGE
+    volumes:
+      - moveit2-data:/root
+    environment:
+      DISPLAY: $DISPLAY
+  gpu:
+    <<: *base-gpu
+    image: moveit/moveit2:$DOCKER_IMAGE
+    volumes:
+      - moveit2-data:/root
+    environment:
+      DISPLAY: $DISPLAY
+
+volumes:
+  moveit2-data:

_scripts/start-docker.sh

@@ -1,68 +1,44 @@
 How to Set Up MoveIt 2 Docker Containers in Ubuntu
 ===================================================
 This guide will provide a walkthrough on how to get a Docker container with MoveIt 2 dependencies set up quickly.
-It includes a script that will get you up and running in MoveIt quickly!
+It includes a docker-compose config file that will get you up and running in MoveIt quickly!
 This guide is intended for people who would like to have a separate environment for working with MoveIt up and running quickly \
 without having to do much configuring. In this guide, we will be setting up a ROS2 Rolling environment.
 
 Learning Objectives
 -------------------
 
-- How to setup a Docker environment using the provided script
+- How to setup a Docker environment using the provided docker compose config
 
 Requirements
 ------------
 
 - Ubuntu 20.04 or 22.04
 - `Docker Installation for Ubuntu <https://docs.docker.com/engine/install/ubuntu/>`_
 - `Nvidia drivers for Docker <https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/install-guide.html#setting-up-nvidia-container-toolkit>`_
+- `docker compose (if not already installed via Docker Desktop) <https://docs.docker.com/compose/install/>`_
 
 Steps
 -----
-1. Install Docker (a link is available in the Requirements section) and be sure to follow the `Linux Post Install <https://docs.docker.com/engine/install/linux-postinstall/#manage-docker-as-a-non-root-user>`_ instructions. If you do not complete these additional steps you will need to preface all ``docker`` commands with ``sudo``.
+1. Install Docker and docker compose (links are available in the Requirements section) and be sure to follow the `Linux Post Install <https://docs.docker.com/engine/install/linux-postinstall/#manage-docker-as-a-non-root-user>`_ instructions. If you do not complete these additional steps you will need to preface all ``docker`` commands with ``sudo``.
 
-2. Open a terminal session, download the Docker script, and make it executable.
+2. Open a terminal session, download the config, and make it executable.
 
   .. code-block:: bash
 
-    wget https://raw.githubusercontent.com/abake48/moveit2_tutorials/how-to-docker-ubuntu/_scripts/start-docker.sh -O ~/.local/bin/start-docker.sh
-    chmod +x ~/.local/bin/start-docker.sh
+    wget https://raw.githubusercontent.com/ros-planning/moveit2_tutorials/how-to-docker-ubuntu/_scripts/docker-compose.yml
 
-3. Run the script.
+3. Launch the container (you may need to hyphenate ``docker-compose`` if using compose V1)
 
-  There are 3 parameters for the script:
-      - ``name_of_the_container`` : this is the name you wish to give the created container. For this guide, we will be naming the container ``moveit2-rolling``.
-      - ``name_of_the_image`` : if you are creating a fresh Docker container, provide the name of the Docker image here. For this guide, we will be using the image ``moveit/moveit2:rolling-source``. Further explanation of this parameter is provided in the ``Further Reading`` section.
-      - ``using_gpu`` : if ``true``, the Docker will be run using Nvidia GPU drivers. By default, this value is true.
+   .. code-block:: bash
 
-  To run the script and use Nvidia GPU drivers
+    DOCKER_IMAGE=rolling-source docker compose run gpu
 
-  .. code-block:: bash
-
-    start-docker.sh moveit2-rolling moveit/moveit2:rolling-source
-
-  If the above command fails, it is likely that Nvidia drivers cannot be used or are installed correctly. In which case, you can still proceed without using Nvidia drivers!
-  First, you'll need to remove the container you just created by running the following command:
-
-  .. code-block:: bash
-
-    docker rm moveit2-rolling
-
-  Then, to run the Docker container without the Nvidia drivers, run the following command:
-
-  .. code-block:: bash
-
-    start-docker.sh moveit2-rolling moveit/moveit2:rolling-source false
-
-  Running the script for the first time creates, starts, and executes the container ``moveit2-rolling``.
+   You can replace ``rolling-source`` with other tagged images, e.g. ``humble-source``. Similarly, you can replace ``gpu`` with ``cpu`` if you do not wish to run using Nvidia GPU drivers.
 
 4. You should now be inside of your Docker container, in the workspace directory. You should now be able to start working with MoveIt!
 
-  Whenever you wish to reenter your container, you can run the following command:
-
-  .. code-block:: bash
-
-    start-docker.sh moveit2-rolling
+  Whenever you wish to reenter your container, run the same command as in #3.
 
 Further Reading
 ---------------
@@ -73,5 +49,5 @@ Further Reading
 - You can find a list of tagged images for the MoveIt 2 Docker container `here <https://hub.docker.com/r/moveit/moveit2/tags>`_.
   The tagged images coincide with ROS2 version releases. The ``release`` version of the container provides an environment in which MoveIt 2 is installed via the binaries.
   The ``source`` version of the Docker image will build MoveIt 2 from source.
-  You can use any of the images in that link by substituting the second parameter in the script, ``name_of_the_image``, with moveit/moveit2:<tag_name>, where ``<tag_name>`` is from the above link.
+  You can use any of the images in that link by substituting the DOCKER_IMAGE environment variable with ``moveit/moveit2:<tag_name>``, where ``<tag_name>`` is from the above link.
   For example, this guide instructs you to use the image with the tag ``rolling-source``.