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README.md

Docker Image for the HAROS Tutorial

This directory contains files to build and run a Docker image with a functional installation of HAROS. It is intended to be used with the source code found in this repository as the target application for analysis.

Once you have Docker available in your system, navigate to this directory.

cd haros_tutorials/docker

Then, either execute the following command or run the build.sh script, which does the same thing.

docker build -t fictibot .

This command will produce a Docker image called fictibot. The files configs.yaml and catkin.sh found in this directory are needed during the build step, to be copied to the image's file system.

To run the image, use the run.sh script or enter the following command.

docker run -it \
    --tmpfs /tmp \
    -p 8080:8080 \
    --mount type=bind,source=..,target=/root/ws/src/haros_tutorials,readonly \
    fictibot

This command requires that the TCP port 8080 is available in your system, for HAROS to use as an HTTP server (for visualization). If you would rather use another port, e.g., 6480, change the -p 8080:8080 line to -p 8080:6480.

Note: the Docker container does not automatically open your web browser for visualization. Whenever HAROS runs the visualization server, you have to manually open your web browser at localhost:8080 (or your selected port).

In addition, the command binds the /tmp directory of the container to a tmpfs filesystem to improve efficiency (HAROS generates temporary files during its analysis) and it binds the /root/ws/src/haros_tutorials directory of the container to the root of this repository in the host system, in read-only mode. In essence, this means that you need only one copy of this repository and its source code, which shall remain in the host machine. The Docker container running HAROS has read access to the repository, and will treat it as if it were a native directory within the container, so that HAROS has access to the source code for analysis.

Once the container is running, it should start in the /root/ws directory, which is the root of the catkin workspace. In this directory, run the catkin.sh script to build Fictibot's source code and source the workspace.

./catkin.sh
source devel/setup.bash

With this, the container is ready to run haros. Try, for instance, the fictibot.sh script:

cd src/haros_tutorials
./scripts/fictibot.sh

You should see the output of HAROS being printed. After a while, the analysis should complete and HAROS will start the visualization server (unless you run analysis-only commands manually, such as haros analyse).

[HAROS] Serving visualisation at 0.0.0.0:8080
[HAROS] Press enter to shutdown the viz server:

With this, you may open your web browser at localhost:8080 (or your chosen port for the docker run command) and explore the analysis results.