aegis_docker

This package contains all files for building & run container images for the Aegis robot station.

The requirements for the packages are directly taken from the aegis_ros.

Symbolic linking of the scripts

There are couple of helper scripts, which helps to handle the whole aegis_ros project. Start by installing them.

./install_links.sh -h # See the help and parametrize installation if needed
./install_links.sh

Main container image

To build a base container image, both for production and development, run the following script and follow the instructions:

# Globally
aegis_build_image

Production container

Build the image. Follow the instructions printed by aegis_run:

aegis_run -h
aegis_run
# Cleanup previous mess
aegis_clean

Development toolbx container

Toolbox (toolbx) is a development tool to mitigate the headaches about the users' privileges.

To enable GPU support in toolbx containers on Ubuntu 22/24 host some manual updates are necessary.

(Automatic) Setup Build the image. Follow the instructions printed by aegis_run:

# Enter/recreate/remove toolbx. Best called in the working aegis_ros directory to detect the branch.
aegis_toolbx
# Cleanup all aegis toolbxes
aegis_clean

These scripts handles all creation and cleanup of the development toolbxes.

Note

Double check your $PATH env variable, it should contain the ~/.local/bin directory.

(Manual) Building:

podman build . -f dev/Containerfile.toolbx -t localhost/aegis_ros_dev:latest
toolbox create --image localhost/aegis_ros_dev:latest aegis_ros_dev-latest
# Check available images
toolbox list

(Manual) Entering into a new terminal:

toolbox enter aegis_dev-latest

---

Known issues:

sudo: unable to resolve host toolbox / toolbx

• (Host) Add toolbox to the /etc/hosts:

# sudo nano /etc/hosts
127.0.0.1        toolbox
127.0.0.1        toolbx

user is not in the sudoers file

• (Host) Install crun (1.8-1) :

wget http://launchpadlibrarian.net/650575198/crun_1.8-1_amd64.deb
sudo apt install ./crun_1.8-1_amd64.deb
rm ./crun_1.8-1_amd64.deb

• (Toolbox) create group:

newgrp sudo

• Source