KnowRob & Docker --- developer documentation

Dockerfiles can be found in this repository: https://github.com/knowrob/docker

You can build docker images from them using

cd ~/docker/knowrob-daemon
docker build -t knowrob/hydro-knowrob-daemon .
cd ~/docker/knowrob-interactive
docker build -t knowrob/hydro-knowrob-interactive .
cd ~/docker/webapp
docker build -t knowrob/webrob .

You can tag a version of an image using

docker tag 18df3323a0d8 knowrob/webrob:0.1.0

# interactive:
docker run -t -P -i knowrob/hydro-knowrob-interactive /bin/bash

# daemon mode:
docker run -t -P -d knowrob/hydro-knowrob-daemon

The approach is to use data-only containers

There is one container per user (called <user>_data), one for the common parts (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-buildsauto-built on DockerHub from the knowrob_data GithHub repository.

The user containers are built from the user_data Dockerfile. It basically just creates a user 'ros' in order to set the permissions correctly and creates the directory '/home/ros/sandbox'. The following commands build a Docker image from this Dockerfile (needs to be done only when the Dockerfile gets updated) and start a container, in this case for the user 'demo'.

cd docker/user-sandbox
docker build -t knowrob/user_data .
docker run --name demo_data knowrob/user_data true

The knowrob_data image is automatically built whenever new data is pushed to the 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:

docker pull knowrob/knowrob_data:latest 
docker rm knowrob_data
docker run --name knowrob_data knowrob/knowrob_data:latest true

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:

# interactive mode
docker run -t -P -i \
           --volumes-from knowrob_data \
           --volumes-from demo_data \
           --name demo \
           knowrob/hydro-knowrob-interactive \
           /bin/bash

# daemon mode
docker run -t -P -d \
           --volumes-from knowrob_data \
           --volumes-from demo_data \
           --name demo \
           knowrob/hydro-knowrob-daemon

These examples are for the user 'demo', so 'demo' and 'demo_data' have to be replaced with the respective username.

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

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:

docker run -t -P --rm --link mongo_db:mongo \
       -v /home/tenorth/work/roslog:/var/roslog \
       -i knowrob/hydro-knowrob-interactive:1.0.2 /bin/bash

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:

mongoimport --host "$MONGO_PORT_27017_TCP_ADDR:$MONGO_PORT_27017_TCP_PORT" --db roslog --collection tf tf.json

The web app needs access to the Docker socket, so you have to start it like this:

docker run --rm -i -p 5000:5000 -v /var/run/docker.sock:/var/run/docker.sock knowrob/webrob python webrob.py

You can then access the Web interface at http://localhost:5000

docker pull knowrob/hydro-knowrob-daemon
docker pull knowrob/webrob
docker pull knowrob/knowrob_data
docker pull knowrob/user_data