Merge jazzy into feature/animation

.dockerignore

@@ -0,0 +1,6 @@
+*
+!pyproject.toml
+!uv.lock
+!_meta/docker/features/docker/entrypoint.sh
+!arena_isaac/isaacsim_msgs
+!utils/msgs/arena_people_msgs

README.md

@@ -9,7 +9,7 @@ A modular ROS 2 (Jazzy) platform for researching and benchmarking autonomous rob
 
 ## Installation
 
-Prerequisites: [Docker](https://docs.docker.com/engine/install/) installation with [nvidia-container-toolkit](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html) for GPU support. Current user must be in group `docker`.
+Prerequisites: [Docker](https://docs.docker.com/engine/install/) installation with [nvidia-container-toolkit](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html) for GPU support. Current user must be in group `docker`. Podman also works through the `podman-docker` alias package, with the API socket enabled (`systemctl --user enable --now podman.socket`).
 Afterwards, run the following commands to install Arena:
 
 ### Basic Installation

_meta/docker/docker-compose.yaml

@@ -1,17 +1,20 @@
+x-podman:
+  in_pod: false
+
 services:
   arena:
     image: "${ARENA_IMAGE}"
     pull_policy: "never"
     build:
-      context: .
-      dockerfile: src/Arena/_meta/docker/features/docker/Dockerfile
+      context: ${ARENA_WS_DIR}/src/Arena
+      dockerfile: _meta/docker/features/docker/Dockerfile
       args:
         - gid=${HOST_GID}
         - uid=${HOST_UID}
     devices:
       - "/dev/snd:/dev/snd"
     volumes:
-      - "/var/run/docker.sock:/var/run/docker.sock"
+      - "${ARENA_DOCKER_SOCK:-/var/run/docker.sock}:/var/run/docker.sock"
       - "/tmp/.X11-unix:/tmp/.X11-unix:rw"
       - "/run/user/${HOST_UID}/pulse:/tmp/pulse"
       - "shared:/tmp/shared"
@@ -24,6 +27,8 @@ services:
       - "$HOST_ARENA_WS_DIR/.uv-cache:/opt/arena_ws/.uv-cache"
       - "$HOST_ARENA_WS_DIR/.env:/opt/arena_ws/.env"
       - "$HOST_ARENA_DATA_DIR:/opt/arena_ws/data"
+      - "$HOST_ARENA_SCREENSHOTS_DIR:/opt/arena_ws/screenshots"
+      - "$HOST_ARENA_SCREENSHOTS_DIR:/home/arena/.gz/gui/pictures"
     environment:
       - QT_X11_NO_MITSHM=1
       - TMPDIR=/tmp/shared
@@ -37,21 +42,28 @@ services:
       - ARENA_IMAGE_TAG
       - ARENA_PROJECT_NAME
       - ARENA_ROS_DISTRO
+      - ARENA_DOCKER_SOCK
+      - ARENA_USERNS_MODE
       - HOST_UID
       - HOST_GID
       - HOST_ARENA_WS_DIR
       - HOST_ARENA_DATA_DIR
+      - HOST_ARENA_SCREENSHOTS_DIR
       - ARENA_DATA_DIR=/opt/arena_ws/data
+      - ARENA_SCREENSHOTS_DIR=/opt/arena_ws/screenshots
       - ROSNAV_AGENTS_DIR=/opt/arena_ws/data/agents
       - HF_HOME=/opt/arena_ws/data/hf
       - LLM_API_ENDPOINT
       - RMW_IMPLEMENTATION=rmw_fastrtps_cpp
+      - ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-1}
+      - GZ_PARTITION=arena-${ROS_DOMAIN_ID:-1}
       - GZ_IP=127.0.0.1
       - CYCLONEDDS_URI=file:///opt/arena_ws/src/Arena/_meta/docker/cyclonedds.${ARENA_NET:-local}.xml
       - FASTRTPS_DEFAULT_PROFILES_FILE=/opt/arena_ws/src/Arena/_meta/docker/fastdds.${ARENA_NET:-local}.xml
     env_file:
-      - .env
+      - ${ARENA_WS_DIR}/.env
     user: "${HOST_UID}"
+    userns_mode: ${ARENA_USERNS_MODE:-}
     group_add:
       - sudo
       - audio

_meta/docker/features/docker/Dockerfile

@@ -1,5 +1,5 @@
 ARG ROS_DISTRO=jazzy
-FROM osrf/ros:${ROS_DISTRO}-desktop AS base
+FROM docker.io/osrf/ros:${ROS_DISTRO}-desktop AS base
 
 
 RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
@@ -37,7 +37,7 @@ FROM base AS python_deps
 COPY --from=ghcr.io/astral-sh/uv:latest /uv /usr/local/bin/uv
 
 WORKDIR /build
-COPY src/Arena/pyproject.toml uv.lock* ./
+COPY pyproject.toml uv.lock* ./
 
 RUN uv venv /opt/venv --system-site-packages
 
@@ -71,8 +71,9 @@ RUN  --mount=type=cache,target=/var/cache/apt,sharing=locked \
     && rm -rf /var/lib/apt/lists/*
 
 # install lightsfm
-ADD https://github.com/robotics-upo/lightsfm.git /lightsfm
-RUN cd /lightsfm && make && make install
+RUN git clone --depth 1 https://github.com/robotics-upo/lightsfm.git /lightsfm \
+    && make -C /lightsfm && make -C /lightsfm install \
+    && rm -rf /lightsfm
 
 
 
@@ -94,8 +95,12 @@ RUN mkdir -p install
 RUN mkdir -p log
 RUN chown -R ${uid}:${gid} /opt/arena_ws
 
+# gz cache mount points
+RUN mkdir -p /home/${username}/.gz/gui/pictures /home/${username}/.gz/sim /home/${username}/.gz/rendering
+RUN chown -R ${uid}:${gid} /home/${username}/.gz
 
-COPY src/Arena/_meta/docker/features/docker/entrypoint.sh /entrypoint.sh
+
+COPY _meta/docker/features/docker/entrypoint.sh /entrypoint.sh
 RUN ln -fs src/Arena/_meta/docker/features/docker/source.container ./source
 
 RUN chmod +x /entrypoint.sh

_meta/docker/features/docker/source.container

@@ -5,28 +5,12 @@ export ARENA_DIR="$ARENA_WS_DIR/src/Arena"
 export ARENA_VENV_DIR="/opt/venv"
 export ARENA_FEATURES_DIR="$ARENA_DIR/_meta/docker/features"
 
-docker_env=""
-docker_env="${docker_env} ARENA_PROJECT_NAME=$ARENA_PROJECT_NAME"
-docker_env="${docker_env} ARENA_IMAGE=$ARENA_IMAGE"
-docker_env="${docker_env} ARENA_IMAGE_TAG=$ARENA_IMAGE_TAG"
-docker_env="${docker_env} ARENA_WS_DIR=$ARENA_WS_DIR"
-docker_env="${docker_env} ARENA_ROS_DISTRO=$ARENA_ROS_DISTRO"
-docker_env="${docker_env} HOST_UID=$HOST_UID"
-docker_env="${docker_env} HOST_GID=$HOST_GID"
-docker_env="${docker_env} HOST_ARENA_WS_DIR=$HOST_ARENA_WS_DIR"
-docker_env="${docker_env} HOST_ARENA_DATA_DIR=$HOST_ARENA_DATA_DIR"
-docker_env="${docker_env} ARENA_DATA_DIR=$ARENA_DATA_DIR"
-docker_env="${docker_env} ROSNAV_AGENTS_DIR=$ROSNAV_AGENTS_DIR"
-
-
-export docker_env
-
 HOST_UID=$(id -u)
 export HOST_UID
 HOST_GID=$(id -g)
 export HOST_GID
 
-export arena_compose_sudo="sudo"
+export arena_compose_sudo="sudo -E"
 source "$ARENA_DIR/_meta/docker/lib"
 
 source src/Arena/_meta/tools/source

_meta/docker/features/isaac/Dockerfile

@@ -1,7 +1,7 @@
 # --- Stage 1: Builder (Python 3.12 + ROS Jazzy) ---
 # Isaac Sim 6.0 bundles Python 3.12, matching Jazzy's native interpreter, so the
 # messages are built against the system python3 with no deadsnakes/venv detour.
-FROM osrf/ros:jazzy-desktop AS builder
+FROM docker.io/osrf/ros:jazzy-desktop AS builder
 
 RUN apt-get update && apt-get install -y \
     build-essential cmake git curl \
@@ -14,8 +14,8 @@ RUN python3 --version && \
 
 WORKDIR /opt/msg_build
 
-ADD src/Arena/arena_isaac/isaacsim_msgs src/isaacsim_msgs
-ADD src/Arena/utils/msgs/arena_people_msgs src/arena_people_msgs
+ADD arena_isaac/isaacsim_msgs src/isaacsim_msgs
+ADD utils/msgs/arena_people_msgs src/arena_people_msgs
 
 # Install build dependencies (Including NumPy for the C-extensions)
 RUN . /opt/ros/jazzy/setup.sh && \

_meta/docker/features/isaac/docker-compose.podman.yaml

@@ -0,0 +1,6 @@
+services:
+  isaac:
+    devices:
+      - nvidia.com/gpu=all
+    security_opt:
+      - label=disable

_meta/docker/features/isaac/docker-compose.yml → _meta/docker/features/isaac/docker-compose.yaml

@@ -3,10 +3,10 @@ services:
     image: "arena_isaac:${ARENA_IMAGE_TAG}"
     pull_policy: "never"
     build:
-      context: .
-      dockerfile: src/Arena/_meta/docker/features/isaac/Dockerfile
+      context: ${ARENA_WS_DIR}/src/Arena
+      dockerfile: _meta/docker/features/isaac/Dockerfile
     volumes:
-      - "/var/run/docker.sock:/var/run/docker.sock"
+      - "${ARENA_DOCKER_SOCK:-/var/run/docker.sock}:/var/run/docker.sock"
       - "/tmp/.X11-unix:/tmp/.X11-unix:rw"
       - "shared:/tmp/shared"
       - "$HOST_ARENA_WS_DIR/src/Arena/.venv:/opt/venv"
@@ -16,6 +16,8 @@ services:
       - "$HOST_ARENA_WS_DIR/log:/opt/arena_ws/log"
       - "$HOST_ARENA_WS_DIR/.env:/opt/arena_ws/.env"
       - "$HOST_ARENA_DATA_DIR:/opt/arena_ws/data"
+      - "$HOST_ARENA_SCREENSHOTS_DIR:/opt/arena_ws/screenshots"
+      - "$HOST_ARENA_SCREENSHOTS_DIR:/root/Documents/Kit/shared/screenshots"
     environment:
       - DISPLAY
       - TMPDIR=/tmp/shared
@@ -28,15 +30,20 @@ services:
       - ARENA_IMAGE_TAG
       - ARENA_PROJECT_NAME
       - ARENA_ROS_DISTRO
+      - ARENA_DOCKER_SOCK
+      - ARENA_USERNS_MODE
       - HOST_UID
       - HOST_ARENA_WS_DIR
       - HOST_ARENA_DATA_DIR
+      - HOST_ARENA_SCREENSHOTS_DIR
       - ARENA_DATA_DIR=/opt/arena_ws/data
+      - ARENA_SCREENSHOTS_DIR=/opt/arena_ws/screenshots
       - HF_HOME=/opt/arena_ws/data/hf
       - ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-1}
       - LLM_API_ENDPOINT
     env_file:
-      - .env
+      - ${ARENA_WS_DIR}/.env
+    userns_mode: ${ARENA_USERNS_MODE:-}
     stdin_open: true
     tty: true
     network_mode: host

_meta/docker/features/vllm/docker-compose.yml → _meta/docker/features/vllm/docker-compose.yaml

@@ -1,6 +1,6 @@
 services:
   vllm:
-    image: vllm/vllm-openai:latest
+    image: docker.io/vllm/vllm-openai:latest
     network_mode: host
     ipc: host
     volumes: