Improve deploy for Isaac Sim

src/nanosaur/docker.py

@@ -25,7 +25,7 @@
 
 # https://gabrieldemarmiesse.github.io/python-on-whales/
 from python_on_whales import docker, DockerClient, DockerException
-from nanosaur.utilities import Params, RobotList, get_nanosaur_home, build_env_file, is_env_file
+from nanosaur.utilities import Params, RobotList, get_nanosaur_home, build_env_file
 from nanosaur.prompt_colors import TerminalFormatter
 import os
 
@@ -41,25 +41,23 @@ def docker_robot_run_command(platform, params: Params, command, name=None):
     docker_compose = f"docker-compose.{workspace_type}.yml"
     nanosaur_home_path = get_nanosaur_home()
     # Create the full file path
-    docker_compose_path = os.path.join(nanosaur_home_path, docker_compose)
     robot = RobotList.get_robot(params)
+    docker_compose_path = os.path.join(nanosaur_home_path, docker_compose)
+    env_file_path = os.path.join(nanosaur_home_path, f'{robot.name}.env')
 
     # Check which simulation tool is selected only if robot.simulation is true
     if robot.simulation and 'simulation_tool' not in params:
         print(TerminalFormatter.color_text("No simulation tool selected. Please run simulation set first.", color='red'))
         return False
-    # Start the container in detached mode
-    simulation_tool = params['simulation_tool'].lower().replace(' ', '_')
 
     # Build env file
-    if not is_env_file():
-        print(TerminalFormatter.color_text("Creating the environment file...", color='green'))
-        build_env_file(params)
+    build_env_file(params)
 
     # Create a DockerClient object with the docker-compose file
-    nanosaur_compose = DockerClient(compose_files=[docker_compose_path])
+    nanosaur_compose = DockerClient(compose_files=[docker_compose_path], compose_env_files=[env_file_path])
     try:
-        nanosaur_compose.compose.run(service=simulation_tool, command=command, remove=True, tty=True, name=name)
+        # TODO make a new docker only for this command
+        nanosaur_compose.compose.run(service='gazebo', command=command, remove=True, tty=True, name=name)
     except DockerException as e:
         print(TerminalFormatter.color_text(f"Error running the command: {e}", color='red'))
         return False
@@ -76,26 +74,26 @@ def docker_robot_start(platform, params: Params, args):
     docker_compose = f"docker-compose.{workspace_type}.yml"
     nanosaur_home_path = get_nanosaur_home()
     # Create the full file path
-    docker_compose_path = os.path.join(nanosaur_home_path, docker_compose)
     robot = RobotList.get_robot(params)
-
+    docker_compose_path = os.path.join(nanosaur_home_path, docker_compose)
+    env_file_path = os.path.join(nanosaur_home_path, f'{robot.name}.env')
+
     # Check which simulation tool is selected only if robot.simulation is true
     if robot.simulation and 'simulation_tool' not in params:
         print(TerminalFormatter.color_text("No simulation tool selected. Please run simulation set first.", color='red'))
         return False
 
     # Build env file
-    if not is_env_file():
-        print(TerminalFormatter.color_text("Creating the environment file...", color='green'))
-        build_env_file(params)
+    build_env_file(params)
+
     print(TerminalFormatter.color_text(f"robot {robot.name} starting", color='green'))
 
     compose_profiles = []
     if args.profile:
         print(TerminalFormatter.color_text(f"Starting with profile: {args.profile}", color='green'))
         compose_profiles = [args.profile]
     # Create a DockerClient object with the docker-compose file
-    nanosaur_compose = DockerClient(compose_files=[docker_compose_path], compose_profiles=compose_profiles)
+    nanosaur_compose = DockerClient(compose_files=[docker_compose_path], compose_env_files=[env_file_path], compose_profiles=compose_profiles)
     # Start the container in detached mode
     try:
         nanosaur_compose.compose.up(detach=args.detach)
@@ -117,24 +115,26 @@ def docker_simulator_start(platform, params: Params, args):
     docker_compose = f"docker-compose.{workspace_type}.yml"
     nanosaur_home_path = get_nanosaur_home()
     # Create the full file path
+    robot = RobotList.get_robot(params)
     docker_compose_path = os.path.join(nanosaur_home_path, docker_compose)
+    env_file_path = os.path.join(nanosaur_home_path, f'{robot.name}.env')
 
     # Check which simulation tool is selected
     if 'simulation_tool' not in params:
         print(TerminalFormatter.color_text("No simulation tool selected. Please run simulation set first.", color='red'))
         return False
     # Start the container in detached mode
-    simulation_tool = params['simulation_tool'].lower().replace(' ', '_')
+    simulation_tool = params['simulation_tool'].lower().replace(' ', '-')
     # Create a DockerClient object with the docker-compose file
-    nanosaur_compose = DockerClient(compose_files=[docker_compose_path])
+    nanosaur_compose = DockerClient(compose_files=[docker_compose_path], compose_env_files=[env_file_path])
 
     # if len(nanosaur_compose.compose.ps()) > 0:
     #    print(TerminalFormatter.color_text(f"The robot {robot.name} is already running.", color='red'))
     #    return False
+
     # Build env file
-    if not is_env_file():
-        print(TerminalFormatter.color_text("Creating the environment file...", color='green'))
-        build_env_file(params)
+    build_env_file(params)
+
     print(TerminalFormatter.color_text(f"Simulator {simulation_tool} starting", color='green'))
     try:
         nanosaur_compose.compose.up(services=[f'{simulation_tool}'], recreate=False)
@@ -155,11 +155,12 @@ def docker_robot_stop(platform, params: Params, args):
     docker_compose = f"docker-compose.{workspace_type}.yml"
     nanosaur_home_path = get_nanosaur_home()
     # Create the full file path
+    robot = RobotList.get_robot(params)
     docker_compose_path = os.path.join(nanosaur_home_path, docker_compose)
+    env_file_path = os.path.join(nanosaur_home_path, f'{robot.name}.env')
 
-    robot = RobotList.get_robot(params)
     # Create a DockerClient object with the docker-compose file
-    nanosaur_compose = DockerClient(compose_files=[docker_compose_path])
+    nanosaur_compose = DockerClient(compose_files=[docker_compose_path], compose_env_files=[env_file_path])
     if len(nanosaur_compose.compose.ps()) > 0:
         nanosaur_compose.compose.down(volumes=True)
         print(TerminalFormatter.color_text(f"robot {robot.name} stopped", color='green'))

src/nanosaur/main.py

@@ -129,7 +129,7 @@ def install(platform, params: Params, args):
 def nanosaur_wake_up(platform, params: Params, args):
     args.detach = False
     # Start the container in detached mode
-    simulation_tool = params.get('simulation_tool', '').lower().replace(' ', '_')
+    simulation_tool = params.get('simulation_tool', '').lower().replace(' ', '-')
     args.profile = simulation_tool
     return docker_robot_start(platform, params, args)
 

src/nanosaur/utilities.py

@@ -275,11 +275,9 @@ def save(self):
             # Get the current nanosaur's home directory
             create_nanosaur_home()
             # Save the parameters to the file
-            print(TerminalFormatter.color_text(f"Saving parameters to {params_file} and update .env file", color='yellow'))
+            print(TerminalFormatter.color_text(f"Saving parameters to {params_file}", color='yellow'))
             with open(params_file, 'w') as file:
                 yaml.dump(self._params_dict, file)
-            # Make a env file
-            build_env_file(self._params_dict)
 
     @staticmethod
     def get_params_file() -> str:
@@ -309,15 +307,17 @@ def is_env_file():
 
 def build_env_file(params):
     nanosaur_home_path = get_nanosaur_home()
-    env_path = os.path.join(nanosaur_home_path, '.env')
     # Get current robot running
     robot = RobotList.get_robot(params)
     uid = os.getuid()
     gid = os.getgid()
+    env_path = os.path.join(nanosaur_home_path, f'{robot.name}.env')
     # Create a .env file and save UID and GID
     with open(env_path, 'w') as env_file:
         env_file.write(f"USER_UID={uid}\n")
         env_file.write(f"USER_GID={gid}\n")
+        # Robot home folder
+        env_file.write(f"ROBOT_HOME={nanosaur_home_path}\n")
         # Pass robot name
         env_file.write(f"ROBOT_NAME={robot.name}\n")
         # Pass robot simulation type
@@ -335,7 +335,7 @@ def build_env_file(params):
         env_file.write(f"PERCEPTION_TAG={perception_tag}\n")
         # Check which simulation tool is selected and save it in the .env file
         if 'simulation_tool' in params:
-            simulation_tool = params['simulation_tool'].lower().replace(' ', '_')
+            simulation_tool = params['simulation_tool'].lower().replace(' ', '-')
             env_file.write(f"SIMULATION={simulation_tool}\n")
         # Pass robot ros commands
         env_file.write(f"COMMANDS={robot.config_to_ros()}\n")

src/nanosaur/workspace.py

@@ -286,7 +286,12 @@ def deploy_simulation(image_name):
             dockerfile_path = f"{nanosaur_simulations_path}/Dockerfile.gazebo"
             if not ros.deploy_docker_image(dockerfile_path, tag_image):
                 return False
-
+        # Build Isaac Sim docker
+        if image_name == 'isaac-sim' or image_name is None:
+            tag_image = f"{nanosaur_docker_user}/{NANOSAUR_DOCKER_PACKAGE_SIMULATION}:isaac-sim"
+            dockerfile_path = f"{nanosaur_simulations_path}/Dockerfile.isaac-sim"
+            if not ros.deploy_docker_image(dockerfile_path, tag_image):
+                return False
         # Build the Docker image for nanosaur bridge
         if image_name == 'robot' or image_name is None:
             tag_image = f"{nanosaur_docker_user}/{NANOSAUR_DOCKER_PACKAGE_ROBOT}:simulation"