tfitzhardinge / docker

Docker containers for OpenCog - Robot Operating System (ROS)

OpenCog's Docker library

This repository is used for setting different docker containers for the various components/dependencies/tools/repositories/configurations associated with the OpenCog project. The dockerfiles here are designed to be built in an additive way.

1. Dockerfiles for Robot Operating System (ROS)

Dockerfiles for demoing and working with various different robot heads and bodies, mostly those from Hanson Robotics. Several of the heads are modeled with blender, and so can be usefully worked with and controlled even without a physical robot.

Currently, the most sophisticated demo here is that of Eva, a female head created by Hanson Robotics. She can track human faces visible to her (via webcam), interact by displaying a variety of emotions and facial gestures, and perform lip sync for speech. The Eva blender file allows all this without the need of a physical robot head to be available.

Docker is used primarily because there are a large number of software dependencies that must be installed in order to make this all work. This includes the Robot Operating System (ROS), Blender, Pololu motor drivers, a variety of ROS webcam and face-tracking/saliency nodes, OpenCog, and other add-ons.

Docker image structure:

├─ros-hydro-deps
  ├─ros-hydro-dev
    ├─ros-hydro-openni
      ├─ros-hydro-percept

├─ros-indigo-base
  ├─ros-indigo-blender
    ├─eva
    ├─ros-arthur-animation
    ├─ros-arthur-dev
    ├─ros-indigo-opencog
  ├─ros-indigo-dev
    ├─ros-indigo-einstein
    ├─ros-indigo-zenorsm

Images available at https://registry.hub.docker.com/repos/opencog/

Pull using, e.g., docker pull ros-indigo-opencog

Organizational Notes:

The base and blender images should be general enough to allow various different robots to be brought up and demoed.

• ros-indigo-base provides a base set of ROS packages, nothing more. The packages are sufficient for performing ROS demos, but no actual development.

• ros-indigo-blender adds blender to the base, thus allowing ROS nodes to control blender animations.

• eva provides the full Hanson Robotics Eva head demonstration. This includes vision and sound processing, motor controls, scripted behaviors, and a web user interface. See the README in indigo/eva for more details.

• ros-indigo-dev provides additional development packages, allowing developers to build and test inside of docker containers. XXX this needs to be cleaned up and replaced by one of the above!?

2. Dockerfiles for OpenCog

The dockerfiles here are designed to be built opencog-deps in the same directory as this README.

Docker image structure:

├─opencog/opencog-deps:utopic
├─opencog/opencog-deps:latest
  ├─opencog/opencog-dev:cli (for a dev environment)
  ├─opencog/opencog-dev:ide
  ├─opencog/opencog-buildslave
  ├─opencog/opencog-distcc
  ├─opencog/cogserver
  ├─opencog/embodiment

├─opencog/moses

├─opencog/relex

Organizational Notes:

• opencog/opencog-deps:utopic: ubuntu 14.10 based image with all OpenCog's dependencies installed.

• opencog/opencog-deps:latest: ubuntu 14.04 based image with all OpenCog's dependencies installed. This forms the base of other main repositories. It likely will be updated to the latest LTS as it is released.

• opencog/opencog-dev:cli: Mainly for running/developing through a shared filesystem between host and container. Has some command line tools installed

• opencog/opencog-dev:ide: Still in development. To be used for developing using ides.

• opencog/opencog-buildslave: Is used for buildbot found [here] (buildbot.opencog.org:8010) Needs some cleanup along with opencog/opencog-distcc opencog/embodiment

• opencog/cogserver: Self-contained opencog cogserver. Has a shallow clone of the OpenCog repo, which is built. On starting a container the default is to start the cogserver.

• opencog/moses: It is based on the offical r-base image and has moses installed. The R binding to moses is not yet included but the binding can be found here

• opencog/relex: It is a self-contianed image for running relex and linkg-grammar servers. For the time being it is also the development image so, you have to use shared filesystem for development or clone your repo inside the container or use a separte data-volume.

3. Usage

• To run the demos and other containers, docker must be installed. Instructions can be found here. The Giving non-root access section on the page explains how to avoid having to use sudo all the time.

• The docker-build.sh file in opencog directory is used for building some of the base images.After running the script successfully other images could be built.

• To use docker-compose follow the instruction in the README file in the opencog directory.