Dockercompose (Netlogo + ROS) - Copying Java from one build to another

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I’m new to Docker and I need help putting two images together.

First, I have these Dockerfile files / Docker-Compose, for a Docker Container with ROS. Alone, it works fine.

Dockerfile:

ARG FROM_IMAGE=ros:foxy
ARG OVERLAY_WS=/opt/ros/overlay_ws

# multi-stage for caching
FROM $FROM_IMAGE AS cacher

# clone overlay source
ARG OVERLAY_WS
WORKDIR $OVERLAY_WS/src
RUN echo "\
repositories: \n\
  ros2/codigo_gustavo: \n\
    type: git \n\
    url: https://github.com/GustavoLLima/codigo_gustavo.git \n\
    version: master \n\
" > ../overlay.repos
RUN vcs import ./ < ../overlay.repos

# copy manifests for caching
WORKDIR /opt
RUN mkdir -p /tmp/opt && \
    find ./ -name "package.xml" | \
      xargs cp --parents -t /tmp/opt && \
    find ./ -name "COLCON_IGNORE" | \
      xargs cp --parents -t /tmp/opt || true

# multi-stage for building
FROM $FROM_IMAGE AS builder

# install overlay dependencies
ARG OVERLAY_WS
WORKDIR $OVERLAY_WS
COPY --from=cacher /tmp/$OVERLAY_WS/src ./src
RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
    apt-get update && rosdep install -y \
      --from-paths \
        src \
      --rosdistro \
        foxy \
    && rm -rf /var/lib/apt/lists/*

# build overlay source
COPY --from=cacher $OVERLAY_WS/src ./src
ARG OVERLAY_MIXINS="release"
RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
    colcon build \
      --packages-select \
        codigo_gustavo \
      --mixin $OVERLAY_MIXINS

# source entrypoint setup
ENV OVERLAY_WS $OVERLAY_WS
RUN sed --in-place --expression \
      '$isource "$OVERLAY_WS/install/setup.bash"' \
      /ros_entrypoint.sh

Docker-Compose.yml:

version: '3'
services:
  talker:
    build: ./
    command: ros2 run codigo_gustavo talker

  listener:
    build: ./
    environment:
      - "PYTHONUNBUFFERED=1"
    command: ros2 run codigo_gustavo listener
    deploy:
      mode: replicated
      replicas: 2

Then I have other Dockerfile / Docker-Compose files for a Docker Container running Netlogo. Again, it works fine.

Dockerfile:

FROM openjdk:8-jdk
LABEL maintainer="Allen Lee <[email protected]>"

ARG NETLOGO_HOME=/opt/netlogo
ARG NETLOGO_VERSION=6.0.4

ENV LC_ALL=C.UTF-8 \
    LANG=C.UTF-8 \
    NETLOGO_TARBALL=NetLogo-$NETLOGO_VERSION-64.tgz

ENV NETLOGO_URL=https://ccl.northwestern.edu/netlogo/$NETLOGO_VERSION/$NETLOGO_TARBALL

WORKDIR /opt
RUN wget $NETLOGO_URL && tar xzf $NETLOGO_TARBALL && ln -sf "NetLogo $NETLOGO_VERSION" netlogo \
    && rm -f $NETLOGO_TARBALL

Docker-Compose.yml:

version: '3'

services:
  modelo1:
    build: ./
    command: tail -f /dev/null
    volumes:
      - ./teste:/teste

volumes:
  teste:

Now the problem: I am trying to put these two codes together, to use only one Dockerfile / Docker-Compose file, making it easier to run. The problem is that I was able to make both containers, but when I try to run Netlogo (via netlogo headless), Container cannot find Java (Netlogo dependency). I checked the directory and it seems that Java is not installed. Workspace comes with two folders, Netlogo and ROS.

Dockerfile:

#--------------Netlogo Instalation--------------
ARG FROM_IMAGE=ros:foxy
ARG OVERLAY_WS=/opt/ros/overlay_ws

#FROM openjdk:8-jdk AS netlogo_cache
FROM openjdk:8-jdk
LABEL maintainer="Allen Lee <[email protected]>"

ARG NETLOGO_HOME=/opt/netlogo
ARG NETLOGO_VERSION=6.0.4

ENV LC_ALL=C.UTF-8 \
    LANG=C.UTF-8 \
    NETLOGO_TARBALL=NetLogo-$NETLOGO_VERSION-64.tgz

ENV NETLOGO_URL=https://ccl.northwestern.edu/netlogo/$NETLOGO_VERSION/$NETLOGO_TARBALL

WORKDIR /opt
RUN wget $NETLOGO_URL && tar xzf $NETLOGO_TARBALL && ln -sf "NetLogo $NETLOGO_VERSION" netlogo \
    && rm -f $NETLOGO_TARBALL



#--------------ROS------------------------

#ARG FROM_IMAGE=ros:foxy
#ARG OVERLAY_WS=/opt/ros/overlay_ws

# multi-stage for caching
FROM $FROM_IMAGE AS cacher

# clone overlay source
ARG OVERLAY_WS
WORKDIR $OVERLAY_WS/src
RUN echo "\
repositories: \n\
  ros2/codigo_gustavo: \n\
    type: git \n\
    url: https://github.com/GustavoLLima/codigo_gustavo.git \n\
    version: master \n\
" > ../overlay.repos
RUN vcs import ./ < ../overlay.repos

# copy manifests for caching
WORKDIR /opt
RUN mkdir -p /tmp/opt && \
    find ./ -name "package.xml" | \
      xargs cp --parents -t /tmp/opt && \
    find ./ -name "COLCON_IGNORE" | \
      xargs cp --parents -t /tmp/opt || true

# multi-stage for building
FROM $FROM_IMAGE AS builder

# install overlay dependencies
ARG OVERLAY_WS
WORKDIR $OVERLAY_WS
COPY --from=cacher /tmp/$OVERLAY_WS/src ./src
RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
    apt-get update && rosdep install -y \
      --from-paths \
        src \
      --rosdistro \
        foxy \
    && rm -rf /var/lib/apt/lists/*

# build overlay source
COPY --from=cacher $OVERLAY_WS/src ./src
ARG OVERLAY_MIXINS="release"
RUN . /opt/ros/$ROS_DISTRO/setup.sh && \
    colcon build \
      --packages-select \
        codigo_gustavo \
      --mixin $OVERLAY_MIXINS

# source entrypoint setup
ENV OVERLAY_WS $OVERLAY_WS
RUN sed --in-place --expression \
      '$isource "$OVERLAY_WS/install/setup.bash"' \
      /ros_entrypoint.sh

#COPY --from=netlogo_cache /opt/netlogo ./netlogo
COPY --from=0 /opt/netlogo ./netlogo

Docker-Compose.yml:

version: '3'

services:
  talker:
    build: ./
    command: ros2 run codigo_gustavo talker

  listener:
    build: ./
    environment:
      - "PYTHONUNBUFFERED=1"
    command: ros2 run codigo_gustavo listener
    deploy:
      mode: replicated
      replicas: 2

  modelo1:
    build: ./
    command: tail -f /dev/null
    volumes:
      - ./teste:/teste

volumes:
  teste:

Error context:

cd /opt/ros/overlay_ws
./netlogo/netlogo-headless.sh --model /teste/WS2.nlogo --experiment experiment1 --spreadsheet /teste/teste2.csv
JAVA_HOME undefined, using java from path. For control over exact java version, set JAVA_HOME
./netlogo/netlogo-headless.sh: line43: java: command not found

Any idea? What should I do? What am I doing wrong?

Thank you!

docker docker-compose dockerfile

1 answer

0


Guy the Dockerfiles has to be separated even. You will reference each one in the Docker-Compose. It would look like this:

version: '3'

services:
  talker:
    build:
      context: ./
      dockerfile: ros.dockerfile
    command: ros2 run codigo_gustavo talker

  listener:
    build:
      context: ./
      dockerfile: netlogo.dockerfile
    environment:
      - "PYTHONUNBUFFERED=1"
    command: ros2 run codigo_gustavo listener
    deploy:
      mode: replicated
      replicas: 2

  modelo1:
    build: ./
    command: tail -f /dev/null
    volumes:
      - ./teste:/teste

volumes:
  teste:

You just need to string the context and dockerfile into the build directive, so you can pass the Dockerfile location.

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