Persistence (#23)

* Towards melodic persistence

* Inter-dev communication for better external hardware support

* Minor improvements here and there

* Fixed the volume path prefix replacement

* All versions now offer audio support/passthrough

* Added the libuvc usb video driver on ROS2 (humble)

* Fixed hardcoded (by mistake) /var volume

* Updated changelog for v1.4.0

README.md

@@ -35,6 +35,7 @@ or
 * [For versions >= `v1.2.2`] There was a problem that was introduced in `v1.2.1` regarding volumes and permissions for user configuration files in ssh, git and bloom. It is now fixed.
 * [For versions >= `v1.2.3`] The installer script now checks if the user is in the docker group, and if not adds them and prompts for reboot at the end of the installation.
 * [For versions >= `v1.3.0`] A ROS Melodic version is now available (with the `rosezm` command) and a much more robust locking mechanism is now in effect. If you experienced frequent lockouts or race conditions, this version should be more stable.
+* [For versions >= `v1.4.0`] All supported ROS versions (melodic/noetic/humble) now work on a completely persistent filesystem to save apt, library and other installations + all other user-defined changes on the container. Additionally, this version also supports audio, enabling users to play sounds through the `rosez` containers.
 
 ## Tested platforms
 * EndeavourOS

internal/installer.bash

@@ -24,7 +24,6 @@ then
     sudo usermod -aG docker $USER
     need_rr=1
 fi
-sudo docker volume create $volume
 sudo docker build --no-cache --pull -t $image_name -f $SCRIPT_DIR/$dockerfile . --build-arg USER_ID=$(id -u) --build-arg GROUP_ID=$(id -g)
 string_for_bashrc='export PATH="$PATH:'$SCRIPT_DIR/"${executable_folder_name}"'"'
 

internal/ros2_Dockerfile

@@ -6,7 +6,12 @@ RUN mkdir -p /opt/ros/ros2_ws/src && apt-get update && apt-get full-upgrade -y &
 gdb \
 xterm \
 valgrind \
+pulseaudio \
+mesa-utils \
+libuvc-dev \
 python3-bloom \
+openssh-client \
+libgl1-mesa-glx \
 python3-catkin-pkg \
 ros-humble-gazebo-ros \
 ros-humble-navigation2 \
@@ -38,3 +43,17 @@ USER rosez_user
 RUN rosdep update
 
 VOLUME /opt/ros/humble
+VOLUME /bin
+VOLUME /etc
+VOLUME /home
+VOLUME /lib
+VOLUME /lib64
+VOLUME /mnt
+VOLUME /opt
+VOLUME /root
+VOLUME /run
+VOLUME /sbin
+VOLUME /srv
+VOLUME /sys
+VOLUME /usr
+VOLUME /var

internal/ros_Dockerfile

@@ -6,10 +6,15 @@ RUN mkdir -p /opt/ros/catkin_ws/src && apt-get update && apt-get full-upgrade -y
 gdb \
 xterm \
 valgrind \
+pulseaudio \
+mesa-utils \
+libuvc-dev \
 python3-bloom \
-python3-catkin-pkg \
+openssh-client \
+libgl1-mesa-glx \
 ros-noetic-amcl \
 ros-noetic-moveit \
+python3-catkin-pkg \
 ros-noetic-move-base \
 ros-noetic-navigation \
 ros-noetic-gazebo-ros \
@@ -36,3 +41,17 @@ USER rosez_user
 RUN rosdep update
 
 VOLUME /opt/ros/noetic
+VOLUME /bin
+VOLUME /etc
+VOLUME /home
+VOLUME /lib
+VOLUME /lib64
+VOLUME /mnt
+VOLUME /opt
+VOLUME /root
+VOLUME /run
+VOLUME /sbin
+VOLUME /srv
+VOLUME /sys
+VOLUME /usr
+VOLUME /var

internal/ros_melodic_Dockerfile

@@ -6,7 +6,12 @@ RUN mkdir -p /opt/ros/catkin_ws/src && apt-get update && apt-get full-upgrade -y
 gdb \
 xterm \
 valgrind \
+pulseaudio \
+mesa-utils \
+libuvc-dev \
 python-bloom \
+openssh-client \
+libgl1-mesa-glx \
 ros-melodic-amcl \
 python-catkin-pkg \
 ros-melodic-moveit \
@@ -36,3 +41,17 @@ USER rosez_user
 RUN rosdep update
 
 VOLUME /opt/ros/melodic
+VOLUME /bin
+VOLUME /etc
+VOLUME /home
+VOLUME /lib
+VOLUME /lib64
+VOLUME /mnt
+VOLUME /opt
+VOLUME /root
+VOLUME /run
+VOLUME /sbin
+VOLUME /srv
+VOLUME /sys
+VOLUME /usr
+VOLUME /var

internal/rosez_exec.bash

@@ -117,7 +117,7 @@ if [ ! -d  $ssh_folder ]; then
     mkdir $ssh_folder
 fi
 intermediate_error_handler $?
-x=""$(rocker --mode dry-run --network host --x11 $gpu_param --volume $rosez_vol:/opt/ros/$ros/ --volume $SCRIPT_DIR/../includes/$rosws_file:/opt/ros/$rosws_file $volumes $SCRIPT_DIR/../internal/entrypoint.bash:/home/rosez_user/.bashrc $bloom_file:/home/rosez_user/.config/bloom $gitconfig_file:/home/rosez_user/.gitconfig $ssh_folder:/home/rosez_user/.ssh $SCRIPT_DIR/helpers.bash:/home/rosez_user/helpers.bash -- $ros_image:latest | tail -n 1 | sed -e "s/-v .*$rosez_vol:/-v $rosez_vol:/")
+x=""$(rocker --mode dry-run --network host --x11 --pulse $gpu_param --volume $rosez_vol-bin:/bin --volume $rosez_vol-etc:/etc/ --volume $rosez_vol-etc:/etc/ --volume $rosez_vol-home:/home/ --volume $rosez_vol-lib:/lib/ --volume $rosez_vol-lib64:/lib64/ --volume $rosez_vol-mnt:/mnt/ --volume $rosez_vol-opt:/opt/ --volume $rosez_vol-root:/root/ --volume $rosez_vol-run:/run/ --volume $rosez_vol-sbin:/sbin/ --volume $rosez_vol-srv:/srv/ --volume $rosez_vol-sys:/sys/ --volume $rosez_vol-usr:/usr --volume $rosez_vol-var:/var --volume $rosez_vol:/opt/ros/$ros --volume $SCRIPT_DIR/../includes/$rosws_file:/opt/ros/$rosws_file $volumes $SCRIPT_DIR/../internal/entrypoint.bash:/home/rosez_user/.bashrc --volume /dev:/dev --volume $bloom_file:/home/rosez_user/.config/bloom --volume $gitconfig_file:/home/rosez_user/.gitconfig --volume $ssh_folder:/home/rosez_user/.ssh --volume $SCRIPT_DIR/helpers.bash:/home/rosez_user/helpers.bash --volume /:$HOME/.$rosez_vol -- $ros_image:latest | tail -n 1 | sed -e "s#-v $(pwd)/$rosez_vol#-v $rosez_vol#g")
 intermediate_error_handler $?
 xauthf="$((echo \"$x\") | grep -E -o '/tmp/.docker[a-zA-Z0-9_-]+.xauth' | head -1)"
 intermediate_error_handler $?