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AlexandrLucasAlexandrLucas
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Release v4.0.0
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‎.env‎

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IMAGE_NAME=alexandrlucas/miro-docker
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CONTAINER_NAME=miro-docker
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# CI
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DEV_BUILD=true
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# User and runtime paths
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USER_UID=1000
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USER_GID=1000
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# PulseAudio setup
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PULSE_SERVER=unix:/run/user/${USER_UID}/pulse/native
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PULSE_SOCKET=/run/user/${USER_UID}/pulse
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PULSE_COOKIE=/.config/pulse/cookie
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PULSE_COOKIE=.config/pulse/cookie

‎.github/workflows/docker-publish.yaml‎

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username: ${{ vars.DOCKERHUB_USERNAME }}
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password: ${{ secrets.DOCKERHUB_TOKEN }}
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- name: Load .env
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id: envfile
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run: |
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set -a
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source .env
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set +a
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echo "DEV_BUILD=$DEV_BUILD" >> $GITHUB_ENV
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- name: Extract metadata (tags, labels)
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id: meta
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uses: docker/metadata-action@v5
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uses: docker/setup-buildx-action@v3
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- name: Build and push Docker image
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if: ${{ github.ref_name != 'dev' || env.DEV_BUILD == 'true' }}
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uses: docker/build-push-action@v6
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with:
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context: .

‎Dockerfile‎

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@@ -32,7 +32,9 @@ RUN apt-get update && apt-get install -y \
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xorg-dev \
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eog \
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libegl1-mesa-dev \
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libgl1-mesa-glx \
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libgles2-mesa-dev \
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mesa-utils \
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net-tools \
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iproute2 \
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tree \
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EOF
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fi
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EOT
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# Create .bashrc_miro addendum
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RUN cat <<'EOF' > ~/.bashrc_miro
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# MDK
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if [ ! -f ~/.miro2/config/miro-mode ]; then
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source ~/mdk/catkin_ws/devel/setup.bash
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source /etc/bash_completion.d/miro-completion
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EOF
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# Append to .bashrc
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RUN cat <<'EOF' >> ~/.bashrc
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# MDK
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yes | unminimize; \
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fi
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# ---- Final cleanup ----
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# ---- Final clean-up ----
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RUN source ~/mdk/setup.bash && cd ~/mdk/catkin_ws && \
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catkin build && catkin clean -y && catkin build && \
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cd ~/mdk/catkin_ws/build/miro2_msg && make install

‎README.md‎

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MiRo & MiRo Developer Kit simulation and development environment in Docker.
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### ⚙️ [Installation](docs/INSTALL.md)
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## ⚙️ Installation
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Installation process depends on the OS of the host machine.
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### 📝 [Changelog](docs/CHANGELOG.md)
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See [INSTALL](docs/INSTALL.md) for full setup instructions.
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## 📝 Changelog
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See [CHANGELOG](docs/CHANGELOG.md) for version history and release notes.
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## 🧠 TODO
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See [TODO](docs/TODO.md) for planned improvements.
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### 🧠 [To-Do](docs/TODO.md)
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## 🚀 Quick Start
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### Host OS
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```bash
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# Clone the repository
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# Clone this repository, either into your host OS or into the WSL distro
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git clone https://github.com/AlexandrLucas/miro-docker.git
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# Pull/build image and start the container
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# Pull/build image and start a MiRo Docker container (select default values)
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./miro-docker.sh start
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# Open a terminal within the running container
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# Attach a terminal to the running container
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./miro-docker.sh term
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```
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Run `miro-docker.sh` without arguments for help on usage.
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>Note: You can add a `miro-hub` alias for the `miro-docker.sh` script onto your
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PATH by running `tools/miro-hub-installer.sh`.
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This allows to run the script from any folder.
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### MiRo Docker
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Check for the Starship Docker prompt to ensure you're in the right place:
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![starship docker prompt](docs\figs\starship-docker.png)
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The MiRo docker image ships with an all-in-one `miro` script.
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Below are some examples of the functionality it provides.
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#### Example 1. Gazebo simulator + MiRo GUI app
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You'll need to open three terminal windows and run the following:
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```bash
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[Terminal 1] roscore
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[Terminal 2] miro sim
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[Terminal 3] miro gui
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```
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#### Example 2. Gazebo simulator + MiRo autonomous mode + MiRo dashboard
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You'll need quite a few terminal windows for this one!
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>Note: The command in *Terminal 6* is used to make the blue ball move in a
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periodic motion, providing a stimuli for the MiRo.
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The final bit, MiRo dashboard, can be viewed by following the link in the output
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of *Terminal 7*.
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```bash
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[Terminal 1] roscore
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[Terminal 2] miro sim
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[Terminal 3] miro demo
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[Terminal 4] miro demo caml
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[Terminal 5] miro demo camr
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[Terminal 6] rosrun com3528_examples ball_mover.py
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[Terminal 7] miro dashboard
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```
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#### Example 3. Three MiRos chasing the ball in the simulator
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This example shows the power of `roslaunch` files.
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>Note: `roscore` starts automatically when running a `roslaunch` file.
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```bash
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[Terminal] roslaunch com3528_examples sim_football.launch
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```
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#### Example 4. Running MiRo GUI for a real MiRo
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By default, the MiRo Docker image works in simulation, but by changing a few
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settings you can just as easily work a physical MiRo.
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You'll need to do the following:
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1. Ensure that the MiRo and your computer are on the same subnet and are visible to each other.
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2. Switch the mode by running `miro mode robot` (as opposed to `miro mode sim`).
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3. Input the IPv4 address of your MiRo by running `miro ip update`.
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4. Open a new terminal and run `miro status` to ensure that everything is set up correctly.
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5. Run `miro gui`.

‎compose.linux.amd.yaml‎

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services:
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miro:
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env_file:
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- .env
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image: ${IMAGE_NAME}:${IMAGE_TAG:-latest}
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container_name: ${CONTAINER_NAME}
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privileged: true
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network_mode: host
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tty: true
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stdin_open: true
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restart: unless-stopped
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command: bash
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environment:
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# GUI
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DISPLAY: ${DISPLAY}
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GDK_BACKEND: "x11"
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GDK_DISABLE_XSHM: "1"
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QT_X11_NO_MITSHM: "1"
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OPENCV_VIDEOIO_MSMF_DISABLE: "1"
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OPENCV_VIDEOIO_X11_NO_SHM: "1"
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# Sound
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PULSE_SERVER: ${PULSE_SERVER}
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PULSE_COOKIE: /root/${PULSE_COOKIE}
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# GPU: ROCm runtime path hints
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ROCM_VISIBLE_DEVICES: "all"
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HSA_OVERRIDE_GFX_VERSION: "11.0.0" # adjust if needed for your GPU
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HIP_VISIBLE_DEVICES: "all"
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volumes:
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# X11 forwarding
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- ${X11UNIX}:${X11UNIX}:rw
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- ${XAUTH}:${XAUTH}:rw
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# Audio (PulseAudio)
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- ${PULSE_SOCKET}:${PULSE_SOCKET}:rw
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- ${HOME}/${PULSE_COOKIE}:/root/${PULSE_COOKIE}:ro
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# MiRo catkin workspace
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- mdpv:/root/mdk/catkin_ws/src
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devices:
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- /dev/snd:/dev/snd
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# AMD GPU access (ROCm and Mesa)
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- /dev/dri:/dev/dri
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- /dev/kfd:/dev/kfd
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group_add:
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- video
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- audio
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deploy:
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resources:
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reservations:
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devices:
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- driver: amd
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count: all
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capabilities: [gpu]
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volumes:
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mdpv:

‎compose.linux.nvidia.yaml‎

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services:
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miro:
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env_file:
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- .env
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image: ${IMAGE_NAME}:${IMAGE_TAG:-latest}
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container_name: ${CONTAINER_NAME}
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privileged: true
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network_mode: host
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tty: true
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stdin_open: true
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restart: unless-stopped
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command: bash
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environment:
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# GUI
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DISPLAY: ${DISPLAY}
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GDK_BACKEND: "x11"
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GDK_DISABLE_XSHM: "1"
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QT_X11_NO_MITSHM: "1"
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OPENCV_VIDEOIO_MSMF_DISABLE: "1"
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OPENCV_VIDEOIO_X11_NO_SHM: "1"
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# Sound
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PULSE_SERVER: ${PULSE_SERVER}
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PULSE_COOKIE: /root/${PULSE_COOKIE}
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# GPU
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NVIDIA_VISIBLE_DEVICES: "all"
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NVIDIA_DRIVER_CAPABILITIES: "all"
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volumes:
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# X11 forwarding
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- ${X11UNIX}:${X11UNIX}:rw
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- ${XAUTH}:${XAUTH}:rw
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# Audio (PulseAudio)
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- ${PULSE_SOCKET}:${PULSE_SOCKET}:rw
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- ${HOME}/${PULSE_COOKIE}:/root/${PULSE_COOKIE}:ro
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# MiRo catkin workspace
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- mdpv:/root/mdk/catkin_ws/src
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devices:
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- /dev/snd:/dev/snd
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group_add:
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- audio
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deploy:
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resources:
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reservations:
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devices:
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- driver: nvidia
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count: all
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capabilities: [gpu]
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volumes:
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mdpv:

‎compose.linux.yaml‎

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services:
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miro:
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env_file:
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- .env
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image: ${IMAGE_NAME}:${IMAGE_TAG:-latest}
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container_name: ${CONTAINER_NAME}
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privileged: true
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network_mode: host
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tty: true
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stdin_open: true
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restart: unless-stopped
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command: bash
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environment:
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# GUI
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DISPLAY: ${DISPLAY}
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GDK_BACKEND: "x11"
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GDK_DISABLE_XSHM: "1"
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QT_X11_NO_MITSHM: "1"
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OPENCV_VIDEOIO_MSMF_DISABLE: "1"
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OPENCV_VIDEOIO_X11_NO_SHM: "1"
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# Sound
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PULSE_SERVER: ${PULSE_SERVER}
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PULSE_COOKIE: /root/${PULSE_COOKIE}
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volumes:
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# X11 forwarding
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- ${X11UNIX}:${X11UNIX}:rw
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- ${XAUTH}:${XAUTH}:rw
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# Audio (PulseAudio)
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- ${PULSE_SOCKET}:${PULSE_SOCKET}:rw
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- ${HOME}/${PULSE_COOKIE}:/root/${PULSE_COOKIE}:ro
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# MiRo catkin workspace
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- mdpv:/root/mdk/catkin_ws/src
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devices:
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- /dev/snd:/dev/snd
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group_add:
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- audio
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volumes:
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mdpv:

‎compose.mac.yaml‎

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services:
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miro:
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env_file:
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- .env
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image: ${IMAGE_NAME}:${IMAGE_TAG:-latest}
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container_name: ${CONTAINER_NAME}
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privileged: true
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network_mode: host
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tty: true
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stdin_open: true
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restart: unless-stopped
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command: bash
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environment:
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# GUI
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DISPLAY: ${DISPLAY}
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GDK_BACKEND: "x11"
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GDK_DISABLE_XSHM: "1"
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QT_X11_NO_MITSHM: "1"
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OPENCV_VIDEOIO_MSMF_DISABLE: "1"
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OPENCV_VIDEOIO_X11_NO_SHM: "1"
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# Sound
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PULSE_SERVER: ${PULSE_SERVER}
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PULSE_COOKIE: /root/${PULSE_COOKIE}
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volumes:
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# X11 forwarding
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- ${X11UNIX}:${X11UNIX}:rw
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- ${XAUTH}:${XAUTH}:rw
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# Audio (PulseAudio)
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- ${PULSE_SOCKET}:${PULSE_SOCKET}:rw
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- ${HOME}/${PULSE_COOKIE}:/root/${PULSE_COOKIE}:ro
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# MiRo catkin workspace
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- mdpv:/root/mdk/catkin_ws/src
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devices:
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- /dev/snd:/dev/snd
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group_add:
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- audio
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volumes:
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mdpv:

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