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fix: load robot/team configs correctly in Docker installs #7

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42ab654
fix(config): make robot ini lookup work after install
Thxssio Dec 23, 2025
2a54228
Merge pull request #1 from TauraBots/fix/Docker
Thxssio Dec 23, 2025
5e25371
fix: load robot/team configs correctly in Docker installs
Thxssio Dec 23, 2025
ecf9827
Merge pull request #2 from TauraBots/fix/Docker
Thxssio Dec 23, 2025
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78 changes: 78 additions & 0 deletions Dockerfile
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FROM ubuntu:20.04 AS build
ENV DEBIAN_FRONTEND=noninteractive

RUN apt-get update && apt-get install -y --no-install-recommends \
git \
ca-certificates \
build-essential \
cmake \
pkg-config \
qt5-default \
libqt5opengl5-dev \
libgl1-mesa-dev \
libglu1-mesa-dev \
libprotobuf-dev \
protobuf-compiler \
libode-dev \
libboost-dev \
&& rm -rf /var/lib/apt/lists/*

WORKDIR /vartypes
RUN git clone https://github.com/jpfeltracco/vartypes.git . && \
git checkout 2d16e81b7995f25c5ba5e4bc31bf9a514ee4bc42 && \
mkdir -p build && \
cd build && \
cmake .. && \
make && \
make install && \
ldconfig

WORKDIR /firasim
COPY cmake /firasim/cmake
COPY config /firasim/config
COPY include /firasim/include
COPY resources /firasim/resources
COPY formation /firasim/formation
COPY msg /firasim/msg
COPY src /firasim/src
COPY CMakeLists.txt README.md LICENSE.md INSTALL.md AUTHORS.md CHANGELOG.md /firasim/

RUN mkdir -p /usr/local/share/firasim
COPY firasim.xml /usr/local/share/firasim/grsim.xml

RUN mkdir -p /usr/local/share/grsim/config
COPY config/*.ini /usr/local/share/grsim/config/

RUN mkdir -p build && \
cd build && \
cmake -DCMAKE_INSTALL_PREFIX=/usr/local .. && \
make && \
make install && \
ldconfig


FROM ubuntu:20.04
ENV DEBIAN_FRONTEND=noninteractive \
LD_LIBRARY_PATH=/lib:/usr/lib:/usr/local/lib

RUN apt-get update && apt-get install -y --no-install-recommends \
tini \
qt5-default \
libqt5opengl5 \
libode8 \
libprotobuf17 \
xvfb \
x11vnc \
x11-utils \
&& rm -rf /var/lib/apt/lists/*

COPY --from=build /usr/local /usr/local

RUN useradd -ms /bin/bash default
COPY docker-entry.sh /docker-entry.sh
RUN chmod 775 /docker-entry.sh

EXPOSE 20011 30011 30012 10300 10301 10302 5900
USER default
WORKDIR /home/default
ENTRYPOINT ["tini", "--", "/docker-entry.sh"]
60 changes: 60 additions & 0 deletions docker-entry.sh
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#!/usr/bin/env bash
set -e

export QT_AUTO_SCREEN_SCALE_FACTOR=0
export QT_ENABLE_HIGHDPI_SCALING=0
export QT_SCALE_FACTOR=1
export QT_SCREEN_SCALE_FACTORS=1
export QT_FONT_DPI=96
export XFT_DPI=96

export XDG_RUNTIME_DIR="${XDG_RUNTIME_DIR:-/tmp/runtime-default}"
mkdir -p "$XDG_RUNTIME_DIR" || true
chmod 700 "$XDG_RUNTIME_DIR" || true

export HOME="${HOME:-/home/default}"
if [[ ! -f "$HOME/.grsim.xml" ]]; then
cp /usr/local/share/firasim/grsim.xml "$HOME/.grsim.xml"
chmod 644 "$HOME/.grsim.xml" || true
fi

if [[ "${1:-}" == "vnc" ]]; then
shift
echo "Launch in VNC mode"

: "${VNC_PASSWORD:=vncpassword}"
: "${VNC_GEOMETRY:=1280x1024}"

mkdir -p "$HOME/.vnc"
x11vnc -storepasswd "${VNC_PASSWORD}" "$HOME/.vnc/passwd"

export DISPLAY=:99

Xvfb "$DISPLAY" -screen 0 "${VNC_GEOMETRY}x24" -dpi 96 -ac +extension GLX +render -noreset &
XVFB_PID=$!

for i in $(seq 1 80); do
if xdpyinfo -display "$DISPLAY" >/dev/null 2>&1; then
break
fi
sleep 0.1
done

if ! xdpyinfo -display "$DISPLAY" >/dev/null 2>&1; then
echo "ERROR: Xvfb did not start on $DISPLAY"
ps aux | grep -E 'Xvfb|x11vnc|FIRASim' || true
exit 1
fi

/usr/local/bin/FIRASim "$@" &

exec x11vnc -forever -shared -usepw -display "$DISPLAY" -rfbport 5900 -noxdamage

elif [[ -n "${DISPLAY:-}" ]]; then
echo "Launch with host X11 display: $DISPLAY"
exec /usr/local/bin/FIRASim "$@"

else
echo "Launch in offscreen mode (no DISPLAY)"
exec /usr/local/bin/FIRASim -platform offscreen "$@"
fi
258 changes: 258 additions & 0 deletions firasim.xml
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<?xml version="1.0" encoding="utf-8"?>
<VarXML>
<Var name="Geometry" type="list">
<Var name="Game" type="list">
<Var name="Division" type="stringenum">
Division B
<Var name="0" type="string">
Division A
</Var>
<Var name="1" type="string">
Division B
</Var>
</Var>
<Var name="Robots Count" type="int" minval="" maxval="">
3
</Var>
</Var>
<Var name="Field" type="list">
<Var name="VSSS A" type="list">
<Var name="Line Thickness" type="double" minval="" maxval="">
0.003000
</Var>
<Var name="Length" type="double" minval="" maxval="">
2.200000
</Var>
<Var name="Width" type="double" minval="" maxval="">
1.800000
</Var>
<Var name="Radius" type="double" minval="" maxval="">
0.250000
</Var>
<Var name="Free Kick Distance From Defense Area" type="double" minval="" maxval="">
0.250000
</Var>
<Var name="Penalty width" type="double" minval="" maxval="">
0.500000
</Var>
<Var name="Penalty depth" type="double" minval="" maxval="">
0.150000
</Var>
<Var name="Penalty point" type="double" minval="" maxval="">
0.375000
</Var>
<Var name="Margin" type="double" minval="" maxval="">
0.300000
</Var>
<Var name="Referee margin" type="double" minval="" maxval="">
0.400000
</Var>
<Var name="Wall thickness" type="double" minval="" maxval="">
0.025000
</Var>
<Var name="Goal thickness" type="double" minval="" maxval="">
0.025000
</Var>
<Var name="Goal depth" type="double" minval="" maxval="">
0.150000
</Var>
<Var name="Goal width" type="double" minval="" maxval="">
0.400000
</Var>
<Var name="Goal height" type="double" minval="" maxval="">
0.050000
</Var>
</Var>
<Var name="VSSS B" type="list">
<Var name="Line Thickness" type="double" minval="" maxval="">
0.003000
</Var>
<Var name="Length" type="double" minval="" maxval="">
1.500000
</Var>
<Var name="Width" type="double" minval="" maxval="">
1.300000
</Var>
<Var name="Radius" type="double" minval="" maxval="">
0.200000
</Var>
<Var name="Free Kick Distance From Defense Area" type="double" minval="" maxval="">
0.200000
</Var>
<Var name="Penalty width" type="double" minval="" maxval="">
0.700000
</Var>
<Var name="Penalty depth" type="double" minval="" maxval="">
0.150000
</Var>
<Var name="Penalty point" type="double" minval="" maxval="">
0.375000
</Var>
<Var name="Margin" type="double" minval="" maxval="">
0.300000
</Var>
<Var name="Referee margin" type="double" minval="" maxval="">
0.400000
</Var>
<Var name="Wall thickness" type="double" minval="" maxval="">
0.025000
</Var>
<Var name="Goal thickness" type="double" minval="" maxval="">
0.025000
</Var>
<Var name="Goal depth" type="double" minval="" maxval="">
0.100000
</Var>
<Var name="Goal width" type="double" minval="" maxval="">
0.400000
</Var>
<Var name="Goal height" type="double" minval="" maxval="">
0.050000
</Var>
</Var>
</Var>
<Var name="Ball" type="list">
<Var name="Radius" type="double" minval="" maxval="">
0.021500
</Var>
</Var>
<Var name="Blue Team" type="stringenum">
Parsian
<Var name="0" type="string">
Parsian
</Var>
<Var name="1" type="string">
ParsianNew
</Var>
<Var name="2" type="string">
RoboIME2012
</Var>
<Var name="3" type="string">
Parsian
</Var>
<Var name="4" type="string">
ParsianNew
</Var>
<Var name="5" type="string">
RoboIME2012
</Var>
</Var>
<Var name="Yellow Team" type="stringenum">
Parsian
<Var name="0" type="string">
Parsian
</Var>
<Var name="1" type="string">
ParsianNew
</Var>
<Var name="2" type="string">
RoboIME2012
</Var>
<Var name="3" type="string">
Parsian
</Var>
<Var name="4" type="string">
ParsianNew
</Var>
<Var name="5" type="string">
RoboIME2012
</Var>
</Var>
</Var>
<Var name="Physics" type="list">
<Var name="World" type="list">
<Var name="Desired FPS" type="double" minval="" maxval="">
60.000000
</Var>
<Var name="Synchronize ODE with OpenGL" type="bool">
false
</Var>
<Var name="Synchronize SimStep with python " type="bool">
false
</Var>
<Var name="ODE time step" type="double" minval="" maxval="">
0.016000
</Var>
<Var name="Gravity" type="double" minval="" maxval="">
9.800000
</Var>
<Var name="Auto reset turn-over" type="bool">
true
</Var>
</Var>
<Var name="Ball" type="list">
<Var name="Ball mass" type="double" minval="" maxval="">
0.043000
</Var>
<Var name="Ball-ground friction" type="double" minval="" maxval="">
0.060000
</Var>
<Var name="Ball-ground slip" type="double" minval="" maxval="">
0.090000
</Var>
<Var name="Ball-ground bounce factor" type="double" minval="" maxval="">
0.500000
</Var>
<Var name="Ball-ground bounce min velocity" type="double" minval="" maxval="">
0.010000
</Var>
<Var name="Ball linear damping" type="double" minval="" maxval="">
0.004000
</Var>
<Var name="Ball angular damping" type="double" minval="" maxval="">
0.004000
</Var>
</Var>
</Var>
<Var name="Communication" type="list">
<Var name="Vision multicast address" type="string">
224.0.0.1
</Var>
<Var name="Vision multicast port" type="int" minval="" maxval="">
10002
</Var>
<Var name="Command listen port" type="int" minval="" maxval="">
20011
</Var>
<Var name="Blue Team status send port" type="int" minval="" maxval="">
30011
</Var>
<Var name="Yellow Team status send port" type="int" minval="" maxval="">
30012
</Var>
<Var name="Sending delay (milliseconds)" type="int" minval="" maxval="">
0
</Var>
<Var name="Send geometry every X frames" type="int" minval="" maxval="">
120
</Var>
<Var name="Gaussian noise" type="list">
<Var name="Noise" type="bool">
false
</Var>
<Var name="Deviation for x values" type="double" minval="" maxval="">
3.000000
</Var>
<Var name="Deviation for y values" type="double" minval="" maxval="">
3.000000
</Var>
<Var name="Deviation for angle values" type="double" minval="" maxval="">
2.000000
</Var>
<Var name="Vanishing" type="bool">
false
</Var>
</Var>
<Var name="Vanishing probability" type="list">
<Var name="Blue team" type="double" minval="" maxval="">
0.000000
</Var>
<Var name="Yellow team" type="double" minval="" maxval="">
0.000000
</Var>
<Var name="Ball" type="double" minval="" maxval="">
0.000000
</Var>
</Var>
</Var>
</VarXML>
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