Use MoveIt Pro without the CLI

MoveIt Pro ships compatible with docker compose to run all the services associated with the MoveIt Pro Runtime, including the UI, in the chance that the moveit_pro CLI verb is inaccessible for your use case, such as in a CI/CD Pipeline. You will need your workspace docker-compose.yaml directly attaching to the services found in the docker-compose.yaml installed by MoveIt Pro (default location:/opt/moveit_pro)

The docker-compose.yaml

We recommend following the below example when constructing your own docker-compose.yaml.

# Docker Compose file for user overlays of the MoveIt Pro images.

services:
  # Sets common properties for other services. Should not be instantiated directly.
  base:
    # Extend the installed MoveIt Pro docker compose file.
    # Change this to match your environment, if MoveIt Pro was installed to a different location.
    extends:
      file: /opt/moveit_pro/docker-compose.yaml
      service: base
    image: moveit-pro-overlay
    build:
      context: .
      target: user-overlay
      args:
        - USER_UID=${STUDIO_USER_UID:-1000}
        - USER_GID=${STUDIO_USER_GID:-1000}
        - USERNAME=${STUDIO_USERNAME:-studio-user}
        - MOVEIT_STUDIO_BASE_IMAGE=picknikciuser/moveit-studio:${STUDIO_DOCKER_TAG:-main}

    # Starts the MoveIt Pro Agent and the Bridge between the Agent and the Web UI
  agent_bridge:
    extends: base
    privileged: true
    volumes:
      # Allow the user to run graphical programs from within the docker container.
      - /tmp/.X11-unix:/tmp/.X11-unix:ro
      # Allow access to host hardware e.g. RealSense cameras
      - /dev:/dev
    deploy:
      restart_policy:
        condition: any
        delay: 2s
    command: agent_bridge.app

  # Starts the robot drivers.
  drivers:
    extends: base
    privileged: true
    # Ensures the drivers container has RT priority
    ulimits:
      rtprio: 99
    devices:
      - "/dev/ttyUSB0:/dev/ttyUSB0"  # Allow access to the gripper.
    command: robot.app

  # Starts the web UI frontend.
  web_ui:
    image: picknikciuser/moveit-studio-frontend:${STUDIO_DOCKER_TAG:-main}
    ports:
      - "80:80"
    network_mode: host

  # Starts RViz for visualization.
  rviz:
    extends: base
    profiles:
      - rviz
    command: bash -c "ros2 launch moveit_studio_agent developer_rviz.launch.py"

  # Starts MoveIt Setup Assistant for creating MoveIt configurations.
  setup_assistant:
    extends: base
    profiles:
      - setup_assistant
    command: bash -c "ros2 launch moveit_setup_assistant setup_assistant.launch.py"

  # Developer specific configuration
  dev:
    extends: base
    build:
      target: user-overlay-dev
    image: moveit-studio-overlay-dev
    stdin_open: true
    tty: true
    privileged: true
    volumes:
      # Mount the source code, colcon generated artifacts, and ccache
      - ./src/:/home/${STUDIO_USERNAME:-studio-user}/user_ws/src:rw
      - ./build/:/home/${STUDIO_USERNAME:-studio-user}/user_ws/build:rw
      - ./install/:/home/${STUDIO_USERNAME:-studio-user}/user_ws/install:rw
      - ./log/:/home/${STUDIO_USERNAME:-studio-user}/user_ws/log:rw
      - ./.ccache/:/home/${STUDIO_USERNAME:-studio-user}/.ccache:rw
      - ${HOME}/.ros/log_moveit_pro:/home/${STUDIO_USERNAME:-studio-user}/.ros/log
      # Allow access to host hardware e.g. RealSense cameras
      - /dev:/dev
    command: sleep infinity
    # Making a separate profile prevents this service from being built when using `docker compose build`
    # and launched when using `docker compose up`.
    profiles: ["dev"]

volumes:
  ignition_resources:

The key principle is that you should extend the base service from the installed MoveIt Pro docker-compose.yaml.

From here, docker compose build can build packages in your workspace that connect with MoveIt Pro.

Creating an envfile

Run moveit_pro configure and moveit_pro envfile to generate a .env file that has the same required parameters for a build environment that Docker will use. Add the following lines to this .env file:

#your_username found by running `whoami`
STUDIO_USERNAME=your_username
#your_user_id found by running `id -u your_username`
STUDIO_USER_UID=your_user_id
#your_user_gid found by running `id -g your_username`
STUDIO_USER_GID=your_user_gid

You can alternatively write all the necessary environment variables yourself into the .env file for more advanced users.

Running with Docker commands

Upon extending the services in the installed docker-compose.yaml, you can run the following to build the workspace:

docker compose build
docker compose run --rm base

Inside the container:

colcon build

From here, launch the agent_bridge and drivers services to start the MoveIt Pro runtime:\

docker compose up --build agent_bridge drivers

You can aso launch the dev service:

docker compose up --build dev

Launching the Web UI

You can launch the web_ui in a separate container after following the above instructions by calling:

docker compose up --build web_ui

From here, go to localhost in your browser of choice, and you can access the MoveIt Pro UI.

Please contact [email protected] if you need assistance with creating and running this docker-compose.yaml.