Bsb/lyrical jetty build

docker/Dockerfile

@@ -0,0 +1,89 @@
+# VRX 4 development image
+# ROS 2 Lyrical Luth (Ubuntu 26.04 "Resolute") + Gazebo Jetty.
+#
+# Unlike the legacy image, this does NOT fake the gz vendor packages or build
+# ros_gz from source. VRX 4's gz_waves packages `find_package(gz_sim_vendor)`,
+# so we install the REAL ros-<distro>-gz-*-vendor packages (they carry the CMake
+# shims and pull in Gazebo Jetty). This image only provides the environment;
+# build the VRX workspace at runtime in the mounted ~/vrx_ws.
+FROM ros:lyrical-ros-base AS vrx-base
+
+ENV DEBIAN_FRONTEND=noninteractive
+ENV TZ=Etc/UTC
+
+# ---- Locale + base tooling ------------------------------------------------
+RUN apt-get update \
+ && apt-get install -y --no-install-recommends \
+      ca-certificates curl gnupg lsb-release locales tzdata \
+ && ln -fs /usr/share/zoneinfo/$TZ /etc/localtime \
+ && echo $TZ > /etc/timezone \
+ && locale-gen en_US en_US.UTF-8 \
+ && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 \
+ && rm -rf /var/lib/apt/lists/*
+ENV LANG=en_US.UTF-8 LC_ALL=en_US.UTF-8
+
+# ---- OSRF Gazebo apt repo -------------------------------------------------
+# Provides Gazebo Jetty and the libs the gz_*_vendor packages depend on.
+RUN curl -s https://packages.osrfoundation.org/gazebo.gpg \
+      -o /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg \
+ && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" \
+      > /etc/apt/sources.list.d/gazebo-stable.list
+
+# ---- Gazebo Jetty + ROS gz vendor shims + ros_gz --------------------------
+# The gz-*-vendor packages provide the CMake shims that VRX 4's gz_waves
+# packages find_package(). The quoted glob is passed literally to apt, which
+# expands it to every ros-<distro>-gz-<x>-vendor package (msgs, transport,
+# fuel-tools, sim, rendering, ...). Gazebo itself arrives via these vendor
+# packages + ros-gz; Resolute (26.04) has no standalone `gz-jetty` metapackage
+# in the OSRF repo, and installing one alongside the vendors would be redundant.
+RUN apt-get update \
+ && apt-get install -y --no-install-recommends \
+      ros-${ROS_DISTRO}-ros-gz \
+      "ros-${ROS_DISTRO}-gz-*-vendor" \
+      ros-${ROS_DISTRO}-sdformat-vendor \
+ && rm -rf /var/lib/apt/lists/*
+
+# ---- Standard ROS packages + build tooling VRX uses -----------------------
+# NOTE: nav2 (navigation2, nav2-bringup, nav2-minimal-*) is intentionally
+# omitted — it is often not yet released early in a new distro's life. Add
+# ros-${ROS_DISTRO}-navigation2 etc. once available on Lyrical.
+RUN apt-get update \
+ && apt-get install -y --no-install-recommends \
+      ros-${ROS_DISTRO}-ackermann-msgs \
+      ros-${ROS_DISTRO}-actuator-msgs \
+      ros-${ROS_DISTRO}-ament-cmake-pycodestyle \
+      ros-${ROS_DISTRO}-image-transport \
+      ros-${ROS_DISTRO}-image-transport-plugins \
+      ros-${ROS_DISTRO}-joy-teleop \
+      ros-${ROS_DISTRO}-joy-linux \
+      ros-${ROS_DISTRO}-mavros-msgs \
+      ros-${ROS_DISTRO}-radar-msgs \
+      ros-${ROS_DISTRO}-vision-msgs \
+      ros-${ROS_DISTRO}-xacro \
+      python3-colcon-common-extensions \
+      python3-rosdep \
+      python3-vcstool \
+ && rm -rf /var/lib/apt/lists/*
+
+# ---- Dev tools + NVIDIA GL (rocker --nvidia) ------------------------------
+RUN apt-get update \
+ && apt-get install -y --no-install-recommends \
+      atop expect gdb gnutls-bin iputils-ping libbluetooth-dev libcwiid-dev \
+      net-tools python3-dbg python3-pip python3-venv vim wget xvfb \
+ && dpkg --add-architecture i386 \
+ && apt-get update \
+ && apt-get install -y --no-install-recommends \
+      libxau6 libxau6:i386 libxdmcp6 libxdmcp6:i386 libxcb1 libxcb1:i386 \
+      libxext6 libxext6:i386 libx11-6 libx11-6:i386 libglvnd0 libglvnd0:i386 \
+      libgl1 libgl1:i386 libglx0 libglx0:i386 libegl1 libegl1:i386 \
+      libgles2 libgles2:i386 \
+ && rm -rf /var/lib/apt/lists/*
+
+# ---- Source ROS for interactive + non-interactive shells ------------------
+RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" > /etc/profile.d/ros.sh \
+ && chmod +x /etc/profile.d/ros.sh \
+ && echo "source /etc/profile.d/ros.sh" >> /etc/bash.bashrc
+ENV BASH_ENV=/etc/profile.d/ros.sh
+
+WORKDIR /ws
+CMD ["/bin/bash"]

docker/build.bash

@@ -0,0 +1,49 @@
+#!/usr/bin/env bash
+
+#
+# Copyright (C) 2018 Open Source Robotics Foundation
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+#
+
+# Builds a Docker image.
+# Usage: build.bash <dir containing Dockerfile> [tag]
+#   tag defaults to the resolved directory name, so passing '.' works too.
+#
+# For the VRX dev container, build it as vrx_dev:lyrical so it matches the
+# image referenced in compose.yaml:
+#   ./build.bash <dir containing Dockerfile> lyrical
+image_name=vrx_dev
+
+if [ $# -lt 1 ]
+then
+    echo "Usage: $0 <path to directory containing Dockerfile> [tag]"
+    exit 1
+fi
+
+context="$1"
+if [ ! -f "${context}/Dockerfile" ]
+then
+    echo "Err: ${context} does not contain a Dockerfile to build."
+    exit 1
+fi
+
+# Tag: explicit 2nd arg, else the resolved directory basename (handles '.').
+distro="${2:-$(basename "$(cd "${context}" && pwd)")}"
+
+image_plus_tag=$image_name:$(export LC_ALL=C; date +%Y_%m_%d_%H%M)
+docker build --rm -t "$image_plus_tag" -f "${context}/Dockerfile" "${context}" && \
+docker tag "$image_plus_tag" "$image_name:$distro" && \
+echo "Built $image_plus_tag and tagged as $image_name:$distro" && \
+echo "To run:  ./docker/run_compose.bash"

docker/compose.nvidia.yaml

@@ -0,0 +1,29 @@
+# NVIDIA overlay for the VRX 4 dev container.
+#
+# run_compose.bash layers this on top of compose.yaml ONLY when it detects an
+# NVIDIA GPU on the host, so the base stays portable (Intel/AMD iGPU via
+# /dev/dri) and NVIDIA hosts render on the dGPU via PRIME offload.
+#
+# Manual use:  docker compose -f docker/compose.yaml -f docker/compose.nvidia.yaml run --rm dev
+services:
+  dev:
+    # nvidia-container-toolkit injects the driver libs + /dev/nvidia* when these
+    # are set and the reservation below requests the GPU.
+    environment:
+      - NVIDIA_VISIBLE_DEVICES=all
+      - NVIDIA_DRIVER_CAPABILITIES=all
+      # PRIME render offload: on a hybrid/Optimus host the X display is driven by
+      # the iGPU and NVIDIA is the offload GPU. /dev/dri (base) is the present path.
+      - __NV_PRIME_RENDER_OFFLOAD=1
+      - __GLX_VENDOR_LIBRARY_NAME=nvidia
+      - __EGL_VENDOR_LIBRARY_FILENAMES=/usr/share/glvnd/egl_vendor.d/10_nvidia.json
+
+    # Modern Compose + nvidia-container-toolkit. If your Docker still uses the
+    # legacy runtime, replace this block with `runtime: nvidia`.
+    deploy:
+      resources:
+        reservations:
+          devices:
+            - driver: nvidia
+              count: all
+              capabilities: [gpu]

docker/compose.yaml

@@ -0,0 +1,65 @@
+# Dev container for VRX 4 (ROS 2 Lyrical + Gazebo Jetty), via plain Docker
+# Compose so it does NOT depend on rocker knowing Ubuntu 26.04.
+#
+# Mirrors:  rocker --home --user --x11 --nvidia --devices /dev/input/js0 ... bash
+#
+# Easiest:  ./docker/run_compose.bash
+#
+# Manually:
+#   xhost +SI:localuser:$(id -un)    # let the container reach your X server (once per login)
+#   cd ~/WorkingCopies/oceansim/vrx_ws/src/vrx
+#   MY_UID=$(id -u) MY_GID=$(id -g) docker compose -f docker/compose.yaml run --rm --remove-orphans dev
+#   ( `UID` is a bash readonly var, so we pass MY_UID/MY_GID instead. )
+#
+# (`run --rm` gives a fresh interactive shell and removes the container on exit,
+#  which is the rocker-like behaviour. Use `exec` instead if you prefer a
+#  long-lived container: `docker compose ... up -d` then `... exec dev bash`.)
+
+services:
+  dev:
+    image: vrx_dev:lyrical            # <- the tag you built; adjust if different
+
+    # --- interactive shell (rocker's default) ---
+    stdin_open: true                  # docker -i
+    tty: true                         # docker -t
+    command: bash
+
+    # --- run as your host user so files created in the mounted home keep your
+    #     ownership (rocker --user). UID/GID come from the run command; the
+    #     prompt may read "I have no name!" — cosmetic, since this UID has no
+    #     /etc/passwd entry in the image. Drop this line to run as root. ---
+    user: "${MY_UID:-1000}:${MY_GID:-1000}"
+
+    # --- host networking: ROS 2 DDS discovery + simplest X11 (DISPLAY reaches
+    #     the host X server directly) ---
+    network_mode: host
+    ipc: host
+
+    # Workspace root. run_compose.bash derives VRX_WS from the compose file's
+    # location; the default (current directory) covers a bare `docker compose ...`
+    # invocation, dropping you in wherever you're standing.
+    working_dir: ${VRX_WS:-${PWD}}
+
+    environment:
+      - DISPLAY=${DISPLAY}
+      - HOME=${HOME}
+      - QT_X11_NO_MITSHM=1
+      # This base runs on the Intel/AMD iGPU via the /dev/dri passthrough below.
+      # NVIDIA access + PRIME render offload live in compose.nvidia.yaml, which
+      # run_compose.bash layers in automatically when an NVIDIA GPU is detected.
+
+    volumes:
+      - ${HOME}:${HOME}                                        # rocker --home
+      - /tmp/.X11-unix:/tmp/.X11-unix:rw                       # X11 socket
+      # No .Xauthority mount: run_compose.bash's `xhost +SI:localuser:$(id -un)`
+      # grants local access without it, and GDM's $XAUTHORITY
+      # (/run/user/.../gdm/Xauthority) collides with the home mount if
+      # bind-mounted onto ~/.Xauthority.
+
+    devices:
+      #  - /dev/input/js0:/dev/input/js0                          # joystick (delete if absent)
+      - /dev/dri:/dev/dri                                      # direct rendering (Intel/AMD/GL)
+
+    # --- GPU: the NVIDIA reservation + PRIME offload are in compose.nvidia.yaml,
+    #     layered in by run_compose.bash only when an NVIDIA GPU is present.
+    #     This base alone renders on the Intel/AMD iGPU via /dev/dri above. ---

docker/run_compose.bash

@@ -0,0 +1,45 @@
+#!/usr/bin/env bash
+#
+# Minimal launcher for the VRX 4 dev container via Docker Compose
+# (ROS 2 Lyrical + Gazebo Jetty). Mirrors rocker: interactive shell, home mount,
+# GPU, X11, joystick. Service definition lives in docker/compose.yaml.
+#
+# Usage:
+#   ./docker/run_compose.bash             # interactive bash in the container
+#   ./docker/run_compose.bash <cmd...>    # run a command instead of bash
+#
+set -euo pipefail
+
+# Resolve compose.yaml next to this script, so it works from any directory.
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+
+# Workspace root = three levels up from docker/ (…/<ws>/src/vrx/docker).
+# Derived from the script's own location so the repo can live anywhere; the
+# compose file falls back to a default if this isn't exported.
+export VRX_WS
+VRX_WS="$(cd "${SCRIPT_DIR}/../../.." && pwd)"
+
+# Let the container's (host-UID) process reach the host X server. Harmless to
+# re-run; warn but don't abort if there's no X server (e.g. headless).
+xhost +SI:localuser:"$(id -un)" >/dev/null 2>&1 \
+  || echo "WARN: xhost failed (no X server?); GUI apps may not display." >&2
+
+# Host UID/GID so files created in the mounted home keep your ownership.
+# (`UID` is a bash readonly variable, hence the MY_ prefix the compose expects.)
+export MY_UID MY_GID
+MY_UID="$(id -u)"
+MY_GID="$(id -g)"
+
+# GPU selection: prefer the NVIDIA dGPU when one is present and usable on the
+# host, otherwise fall back to the Intel/AMD iGPU (base compose only). The
+# NVIDIA reservation refuses to start the container on a host without an NVIDIA
+# GPU, so only layer the overlay in when nvidia-smi actually reports one.
+compose_files=(-f "${SCRIPT_DIR}/compose.yaml")
+if command -v nvidia-smi >/dev/null 2>&1 && nvidia-smi -L >/dev/null 2>&1; then
+  compose_files+=(-f "${SCRIPT_DIR}/compose.nvidia.yaml")
+  echo "GPU: NVIDIA detected -> dGPU via PRIME offload." >&2
+else
+  echo "GPU: no usable NVIDIA -> Intel/AMD iGPU via /dev/dri." >&2
+fi
+
+exec docker compose "${compose_files[@]}" run --rm --remove-orphans dev "$@"

gz_waves_rendering/CMakeLists.txt

@@ -28,27 +28,28 @@ find_package(gz-rendering REQUIRED COMPONENTS ogre2)
 # registry (CreateWaveSimulation); the GUI-side factory registration lives in
 # the per-engine GUI plugins (gz-sim-waves-<engine>-gui), loaded by the world.
 
-# Discover Ogre Next headers. Different Gazebo installs sit on different Ogre
-# Next patch versions (ROS gz_ogre_next_vendor 2.3.3 vs Ubuntu libogre-next-dev
-# 2.3.1). Compiling against one but loading the other silently swaps in slow
-# Hlms/barrier code paths (no crash, but RTF tanks), so probe which Ogre Next
-# the *resolved* gz-rendering-ogre2 links against and match our header path.
-get_target_property(_gz_rend_ogre2_lib gz-rendering::ogre2 LOCATION)
-if(_gz_rend_ogre2_lib MATCHES "/opt/ros/([^/]+)/")
-  set(_ros_distro "${CMAKE_MATCH_1}")
-  set(OGRE_NEXT_INCLUDE_DIR
-    "/opt/ros/${_ros_distro}/opt/gz_ogre_next_vendor/include/OGRE-Next"
-    CACHE PATH "Ogre Next include dir matched to gz-rendering-ogre2 distro")
-else()
-  # Non-ROS-distro install (e.g. local jetty_ws build) → system Ogre Next.
-  set(OGRE_NEXT_INCLUDE_DIR "/usr/include/OGRE-2.3"
-    CACHE PATH "Ogre Next include dir from libogre-next-dev")
-endif()
-if(NOT EXISTS "${OGRE_NEXT_INCLUDE_DIR}/OgreRoot.h")
+# Discover the Ogre Next headers. We must compile against the SAME Ogre Next the
+# resolved gz-rendering-ogre2 uses (mixing patch versions silently swaps in slow
+# Hlms/barrier paths). The previous approach parsed gz-rendering::ogre2's
+# LOCATION, but that property is empty for imported/interface targets (it is
+# NOTFOUND on the ROS gz vendor + Gazebo Jetty), so it wrongly fell back to a
+# hardcoded /usr/include/OGRE-2.3. Instead, search for the OGRE-Next headers,
+# seeded by the ogre2 target's own interface include dirs. PATH_SUFFIXES exclude
+# a bare "OGRE" so we never pick up classic Ogre 1.x (/usr/include/OGRE,
+# rviz_ogre_vendor), whose ABI-incompatible headers would break the build.
+get_target_property(_ogre2_incs gz-rendering::ogre2 INTERFACE_INCLUDE_DIRECTORIES)
+find_path(OGRE_NEXT_INCLUDE_DIR
+  NAMES OgreRoot.h
+  HINTS ${_ogre2_incs}
+  PATHS
+    /opt/ros/$ENV{ROS_DISTRO}/opt/gz_ogre_next_vendor/include
+    /usr/include
+  PATH_SUFFIXES OGRE-Next OGRE-2.4 OGRE-2.3
+)
+if(NOT OGRE_NEXT_INCLUDE_DIR)
   message(FATAL_ERROR
-    "OgreRoot.h not found under ${OGRE_NEXT_INCLUDE_DIR} "
-    "(probed from gz-rendering::ogre2 = ${_gz_rend_ogre2_lib}). "
-    "Install libogre-next-dev or gz_ogre_next_vendor as appropriate.")
+    "OGRE-Next headers (OgreRoot.h) not found. Install libogre-next-dev or the "
+    "gz_ogre_next_vendor package.")
 endif()
 message(STATUS "Ogre Next headers: ${OGRE_NEXT_INCLUDE_DIR}")