Differences

This shows you the differences between two versions of the page.

--- doc:docker:dev [2014/08/27 07:17] – created admin
+++ doc:docker:dev [2015/03/31 12:51] (current) – [Sharing images via Docker hub] daniel86
@@ Line 1: / Line 1: @@
-====== KnowRob & Docker --- developer documentation ======
+====== KnowRob & Docker -- developer documentation ======
+This page lists information for developers that would like to modify, update and develop the docker images. If you would only like to start the existing docker containers, please have a look [[/doc/docker|here]].
+===== Building Docker images=====
+The Dockerfiles for the KnowRob containers can be found in this repository: https://github.com/knowrob/docker. You can build docker images from them using
+<code bash>
+cd ~/docker/hydro-knowrob/hydro-knowrob-base
+docker build -t knowrob/hydro-knowrob-base .
+cd ~/docker/hydro-knowrob/hydro-knowrob-daemon
+docker build -t knowrob/hydro-knowrob-daemon .
+cd ~/docker/hydro-knowrob/hydro-knowrob-interactive
+docker build -t knowrob/hydro-knowrob-interactive .
+cd ~/docker/webapps/easeapp
+docker build -t openease/easeapp .
+cd ~/docker/webapps/login
+docker build -t openease/login .
+cd ~/docker/webapps/knowrob
+docker build -t openease/knowrob .
+</code>
+You can tag a version of an image using
+  docker tag 18df3323a0d8 openease/knowrob:0.1.0
+===== Sharing images via Docker hub =====
+Instead of building all images from Dockerfiles, you can also upload and download them from/to Docker hub. The push/pull interaction is very similar to git and uses the 'tags' associated with an image for describing which one to share:
+<code bash>
+  # upload image:
+  docker push knowrob/hydro-knowrob-daemon
+  # download images (this can also be done with the 'update-containers' script)
+  docker pull knowrob/hydro-knowrob-daemon
+  docker pull knowrob/knowrob_data
+  docker pull knowrob/user_data
+  docker pull openease/easeapp
+  [...]
+</code>
+===== Running Docker containers =====
+==== KnowRob containers ====
+There are two versions of the KnowRob container: The interactive one starts a Bash shell that can be used for console-based interaction with the system. The other one is a daemonized version that starts KnowRob and json_prolog as a daemon without interactive shell.
+<code bash>
+  # interactive:
+  docker run -t -P -i knowrob/hydro-knowrob-interactive /bin/bash
+  # daemon mode:
+  docker run -t -P -d knowrob/hydro-knowrob-daemon
+</code>
+==== MongoDB ====
+<code bash>
+  docker run -d -v /data/db --name mongo_data busybox true
+  docker run -d -p 27017:27017 --volumes-from mongo_data --name mongo_db mongo
+</code>
+=== Importing data into MongoDB ===
+If you want to import data into a dockerized MongoDB instance, first start an interactive container that mounts the host directory which contains the exported json files:
+<code bash>
+  docker run -t -P --rm --link mongo_db:mongo \
+         -v /home/tenorth/work/roslog:/var/roslog \
+         -i knowrob/hydro-knowrob-interactive /bin/bash
+</code>
+Then you can run the 'mongoimport' program from within the container. Make sure to set the host correctly, i.e. to refer to the MongoDB instance in the other container:
+<code bash>
+  cd /var/roslog/<experiment-id>
+  mongoimport --host "$MONGO_PORT_27017_TCP_ADDR:$MONGO_PORT_27017_TCP_PORT" --db roslog --collection tf tf.json
+</code>
+===== Managing data using containers =====
+Docker containers are cheap and usually short-lived, i.e. they can easily be started, stopped, removed and updated. The problem is how to store persistent data such as the content of a database or user-specific files. The approach we use are [[https://docs.docker.com/userguide/dockervolumes/#creating-and-mounting-a-data-volume-container|data-only containers]] -- normal containers that contain nothing but a data volume that can be mounted by the other containers that provide the applications. These data-only containers shall not be removed, but can persist over longer time, also if the application containers get updated.
+In the KnowRob use case, there is one container for user data (called user_data), and another one for common data (called knowrob_data). The user container will serve as sandbox in which users can store their files, the knowrob_data container will provide commonly used data sets. The common data container knowrob_data is [[https://docs.docker.com/userguide/dockerrepos/#automated-builds|auto-built]] on [[https://hub.docker.com/|DockerHub]] from the [[https://github.com/knowrob/knowrob_data|knowrob_data]] GithHub repository.
+==== Updating the common data container ====
+The knowrob_data image is automatically built whenever new data is pushed to the [[https://github.com/knowrob/knowrob_data|knowrob_data]] GitHub repository. This image is, however, not automatically updated in the server's registry. In order to pull the newest version and to replace the running container with a new one, use the following commands:
+<code bash>
+  docker pull knowrob/knowrob_data:latest
+  docker rm knowrob_data
+  docker run --name knowrob_data knowrob/knowrob_data:latest true
+</code>
+==== Starting a user container that includes the data volumes ====
+If the KnowRob image has been built as described earlier, it can be started using the following command such that both the common and the user-specific data volumes are mounted:
+<code bash>
+  # interactive mode
+  docker run -t -P -i --rm \
+             --volumes-from knowrob_data \
+             --volumes-from user_data \
+             --name demo \
+             --link mongo_db:mongo \
+             knowrob/hydro-knowrob-interactive \
+             /bin/bash
+  # daemon mode
+  docker run -t -P -d --rm\
+             --volumes-from knowrob_data \
+             --volumes-from user_data \
+             --name demo \
+             --link mongo_db:mongo \
+             knowrob/hydro-knowrob-daemon
+  </code>
+These examples are for the user 'demo', so 'demo' has to be replaced with the respective username.