update readme

README.md

@@ -10,17 +10,44 @@ Check out the readme of this project for further information.
 - GPU support for opencv
 
 # Available docker images
-| Image                                                         | Description                            |
-|---------------------------------------------------------------|----------------------------------------|
-| `docker.uibk.ac.at:443/informatik/stair/minibot-vision/ros/arm` | Tensorflow 2.7, ROS noetic, python 3.6 |
-| `docker.uibk.ac.at:443/informatik/stair/minibot-vision/arm `    | cv_bridge, minibot-vision              |
+| Image                                                          | Platform | Description                                                            |
+|----------------------------------------------------------------|----------|------------------------------------------------------------------------|
+| `docker.uibk.ac.at:443/informatik/stair/minibot-vision/ros:arm` | `ARMv8`  | Tensorflow 2.7, ROS noetic, python 3.6                                 |
+| `docker.uibk.ac.at:443/informatik/stair/minibot-vision:arm`    | `ARMv8`  | cv_bridge for python 3.6, minibot-vision                               |
+| `docker.uibk.ac.at:443/informatik/stair/minibot-vision/ros:amd` | `AMD64`  | Minibot base image inkl. latest tensorflow and tensorflowjs, python 3.8 |
+| `docker.uibk.ac.at:443/informatik/stair/minibot-vision:amd`    | `AMD64`  | minibot-vision                                                         |
+Alle images are built automatically after a push / merge on the main branch.
 
 # Getting started
+## Start and create docker container for one-time use
 To run the core docker image with `tensorflow`, `ROS noetic` and `minibot-vision` with GPU support for tensorflow, execute the following command:
 ```
-sudo docker run -it --runtime=nvidia -v /usr/local/cuda-10.2/targets/aarch64-linux/lib:/usr/local/cuda-10.2/targets/aarch64-linux/lib:ro --rm docker.uibk.ac.at:443/informatik/stair/minibot-vision/arm
+sudo docker run -it --runtime=nvidia -v /usr/local/cuda-10.2/targets/aarch64-linux/lib:/usr/local/cuda-10.2/targets/aarch64-linux/lib:ro --rm docker.uibk.ac.at:443/informatik/stair/minibot-vision:arm
 ```
 This creates an interactive container starting with the shell as entrypoint. After the container has been stopped it will be deleted.
+## Create docker image for development use
+### Create container for arm64v8 with GPU support for jetson nano
+````
+sudo docker create -i --name minibot_vision --network host --runtime=nvidia -v /usr/local/cuda-10.2/targets/aarch64-linux/lib:/usr/local/cuda-10.2/targets/aarch64-linux/lib:ro -v HOST_OS/CATKIN_WS_PATH:/app/catkin_ws/src docker.uibk.ac.at:443/informatik/stair/minibot-vision:arm
+````
+Creates a container for the jetson nano with GPU support. The container is identified by the name `minibot_vision`. `HOST_OS/CATKIN_WS_PATH` should be replaced with the path to the 
+catkin workspace on the host operating system. This directory will be mounted to `/app/catkin_ws/src` inside the container, 
+so that the content is available after updating the container. \
+The container uses the `host` network.
+### Create container for amd64 without GPU support for jetson nano
+````
+sudo docker create -i --name minibot_vision --network host -v HOST_OS/CATKIN_WS_PATH:/app/catkin_ws/src docker.uibk.ac.at:443/informatik/stair/minibot-vision:amd
+````
+### Start the image
+The container can be started using the name of the container. With `-i` the container starts in the interactive mode.
+````
+sudo docker start  -i minibot_vision
+````
+### Connect to running container
+An interactive shell can be started using hte name of the container.
+````
+sudo docker exec -it minibot_vision /bin/bash
+````
 
 # Building docker container
 ## Base Image with Tensorflow and ROS noetic
@@ -29,21 +56,22 @@ This image has been used to create an image with ROS noetic on Ubunut 18.04. The
 ### Build image from Dockerfile
 Navigate to the directory `.docker` and execute the following command on the minibot:
 ```
-sudo docker build --tag docker.uibk.ac.at:443/informatik/stair/minibot-vision/ros/arm .
+sudo docker build --tag docker.uibk.ac.at:443/informatik/stair/minibot-vision/ros:arm --file Dockerfile.arm .
 ```
 If you want to build the image on another device (not arm64/v8) the following command is required:
 ```
-sudo docker buildx build --platform=linux/arm64/v8 --tag docker.uibk.ac.at:443/informatik/stair/minibot-vision/ros/arm .
+sudo docker buildx build --platform=linux/arm64/v8 --tag docker.uibk.ac.at:443/informatik/stair/minibot-vision/ros:arm --file Dockerfile.arm .
 ```
 ## Core image with minibot vision
-Based on the `docker.uibk.ac.at:443/informatik/stair/minibot-vision/ros/arm` image a docker image with cv_bridge and the minibot-vision sources complied has been created: `docker.uibk.ac.at:443/informatik/stair/minibot-vision/arm`.
+The dockerfile for hte core image is located in the `.docker` directory. \
+Based on the `docker.uibk.ac.at:443/informatik/stair/minibot-vision/ros:arm` image a docker image with cv_bridge and the minibot-vision sources complied has been created: `docker.uibk.ac.at:443/informatik/stair/minibot-vision/arm`.
 Inside the container the minibot-vision sources are available in the directory`/app/catkin_ws/src`.
 ### Build image from Dockerfile
 To build the image with the sources of the repository and using the base image the following command is required:
 ```
-sudo docker build --tag docker.uibk.ac.at:443/informatik/stair/minibot-vision/arm .
+sudo docker build --tag docker.uibk.ac.at:443/informatik/stair/minibot-vision:arm --file Dockerfile.arm .
 ```
 If you want to build the image on another device (not arm64/v8) the following command is required:
 ```
-sudo docker buildx build --platform=linux/arm64/v8 --tag docker.uibk.ac.at:443/informatik/stair/minibot-vision/arm .
+sudo docker buildx build --platform=linux/arm64/v8 --tag docker.uibk.ac.at:443/informatik/stair/minibot-vision:arm --file Dockerfile.arm .
 ```