# ROS2 Docker Container Environment

A containerized ROS2 development environment with GUI support and NVIDIA GPU acceleration. This Docker setup provides an isolated workspace for ROS2 development while maintaining seamless integration with your host filesystem.

## Features

- **ROS2 Distribution**: Default `humble` (configurable)
- **GUI Support**: X11 forwarding for ROS2 GUI applications
- **GPU Support**: NVIDIA GPU acceleration (when available)
- **Workspace Mounting**: Host `ws/` directory mounted with full permissions
- **User Permissions**: Runs with matching host user/group IDs
- **Sample Movie**: [video](https://youtu.be/2pLzEvx31iA)

## Prerequisites

- **Docker**: Install following [Docker Engine installation guide](https://docs.docker.com/engine/install)
- **Post-install Setup**: Configure Docker for [non-root usage](https://docs.docker.com/engine/install/linux-postinstall)
- **NVIDIA Runtime** (optional): For GPU support, install [nvidia-container-toolkit](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/install-guide.html)

## Quick Start

1. **Clone and navigate to repository**
   ```bash
   git clone git@github.com:Standard-Cognition/keypoint-db.git
   cd keypoint_db
   ```

2. **Build the container**
   ```bash
   make
   ```

3. **Run container**
   ```bash
   ./run_container.sh
   ```

4. **Join from another terminal** (optional)
   ```bash
   ./join_container.sh
   ```


### ROS2 Development Workflow

Inside the container (`/home/user/ws`):

**Install dependencies (first time only):**
```bash
sudo apt-get update
rosdep update
rosdep install -i --from-path src --rosdistro ${ROS_DISTRO} -y
```

**Build workspace:**
```bash
./compile_and_source.sh
```

**Run rviz with a layout:**
```bash
ros2 launch db_loader layout_visualization_launch.py json_file:=/home/user/ws/data/research.sc.s2016.json
```

**Outside of the container download the track csv file**
```
download from: https://drive.google.com/file/d/1sf924lEBK2VLuBmHUzGXUakn6blwY9r2/view?usp=sharing
cp chunk_1971-03-29T03_20_00Z_1971-03-29T03_25_00Z.csv YOUR_FOLDER/Tracks/keypoint-db/ws/data/
```


**Join from another terminal**
   ```bash
   ./join_container.sh
   ```

**Run the keypoint_publisher:**
```bash
ros2 run db_loader keypoint_publisher data/chunk_1971-03-29T03_20_00Z_1971-03-29T03_25_00Z.csv
```



**From a 3rd terminal window, join the container**
   ```bash
   ./join_container.sh
   ```

**Run the visualization:**
```bash
ros2 launch db_loader layout_visualization_launch.py json_file:=/home/user/ws/data/research.sc.s2016.json
```



## Project Structure

```
dataset_ros2_container/
├── Dockerfile              # Container image definition
├── Makefile                # Build automation
├── docker-compose.yml      # Docker Compose configuration
├── .env                    # Environment variables
├── utils                   # Shared shell utilities
├── run_container.sh        # Start container script
├── join_container.sh       # Join running container script
├── ws/                     # ROS2 workspace (mounted)
│   ├── src/               # Your ROS2 packages
│   ├── build/             # Build artifacts
│   ├── install/           # Installation directory
│   └── log/               # Build logs
└── README.md              # This file
```

## Configuration

### Environment Variables

- `ROS2_DISTRO`: ROS2 distribution (default: from `.env` file)
- `IMAGE_NAME`: Docker image name (default: `ros2_devel`)
- `APT_MIRROR`: APT mirror location (default: `jp`)
- `DOCKER_BUILD_OPTS`: Additional Docker build options

### Container Features

- **X11 Forwarding**: Automatic GUI application support
- **NVIDIA GPU**: Auto-detected and enabled when available
- **Network**: Host networking for ROS2 communication
- **Workspace Persistence**: `ws/` directory changes persist on host

## Troubleshooting

**GPU not detected:**
- Ensure NVIDIA drivers are installed on host
- Install nvidia-container-toolkit
- Verify with `nvidia-smi` command

**Permission issues:**
- Container runs with host user/group IDs automatically
- Ensure Docker post-install steps completed

**GUI applications not working:**
- Verify X11 forwarding: `echo $DISPLAY`
- Check XAUTH permissions in container

**Build failures:**
- Use `--no-cache` build option
- Update base images with `--pull=true`

## Contributing

1. Fork the repository
2. Create feature branch: `git checkout -b feature-name`
3. Commit changes: `git commit -am 'Add feature'`
4. Push branch: `git push origin feature-name`
5. Submit pull request

## License

See [LICENSE](LICENSE) file for details.