Permissions problem cross-compiling in VM

Description

Running a VM in VirtualBox using Ubuntu 20.04. ROS2 Galactic is running ok in native mode. ros_cross_compile is installed via pip3 without any modification. Docker is also installed from the official repositories.

Expected Behavior

I tried to run this command to cross-compile for armhf one workspace $ ros_cross_compile dev_ws/ --arch armhf --os ubuntu --rosdistro galactic

Actual Behavior

When running the ros_cross_compile tool, permissions issues arise regarding docker access to sockets

$ ros_cross_compile dev_ws/ --arch armhf --os ubuntu --rosdistro galactic
INFO:Rosdep Gatherer:Building rosdep collector image: ros_cross_compile:rosdep
Traceback (most recent call last):
  File "/usr/lib/python3/dist-packages/urllib3/connectionpool.py", line 665, in urlopen
    httplib_response = self._make_request(
  File "/usr/lib/python3/dist-packages/urllib3/connectionpool.py", line 387, in _make_request
    conn.request(method, url, **httplib_request_kw)
  File "/usr/lib/python3.8/http/client.py", line 1252, in request
    self._send_request(method, url, body, headers, encode_chunked)
  File "/usr/lib/python3.8/http/client.py", line 1298, in _send_request
    self.endheaders(body, encode_chunked=encode_chunked)
  File "/usr/lib/python3.8/http/client.py", line 1247, in endheaders
    self._send_output(message_body, encode_chunked=encode_chunked)
  File "/usr/lib/python3.8/http/client.py", line 1007, in _send_output
    self.send(msg)
  File "/usr/lib/python3.8/http/client.py", line 947, in send
    self.connect()
  File "/home/mobuser/.local/lib/python3.8/site-packages/docker/transport/unixconn.py", line 46, in connect
    sock.connect(self.unix_socket)
PermissionError: [Errno 13] Permission denied

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "/usr/lib/python3/dist-packages/requests/adapters.py", line 439, in send
    resp = conn.urlopen(
  File "/usr/lib/python3/dist-packages/urllib3/connectionpool.py", line 719, in urlopen
    retries = retries.increment(
  File "/usr/lib/python3/dist-packages/urllib3/util/retry.py", line 400, in increment
    raise six.reraise(type(error), error, _stacktrace)
  File "/usr/lib/python3/dist-packages/six.py", line 702, in reraise
    raise value.with_traceback(tb)
  File "/usr/lib/python3/dist-packages/urllib3/connectionpool.py", line 665, in urlopen
    httplib_response = self._make_request(
  File "/usr/lib/python3/dist-packages/urllib3/connectionpool.py", line 387, in _make_request
    conn.request(method, url, **httplib_request_kw)
  File "/usr/lib/python3.8/http/client.py", line 1252, in request
    self._send_request(method, url, body, headers, encode_chunked)
  File "/usr/lib/python3.8/http/client.py", line 1298, in _send_request
    self.endheaders(body, encode_chunked=encode_chunked)
  File "/usr/lib/python3.8/http/client.py", line 1247, in endheaders
    self._send_output(message_body, encode_chunked=encode_chunked)
  File "/usr/lib/python3.8/http/client.py", line 1007, in _send_output
    self.send(msg)
  File "/usr/lib/python3.8/http/client.py", line 947, in send
    self.connect()
  File "/home/mobuser/.local/lib/python3.8/site-packages/docker/transport/unixconn.py", line 46, in connect
    sock.connect(self.unix_socket)
urllib3.exceptions.ProtocolError: ('Connection aborted.', PermissionError(13, 'Permission denied'))

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "/home/mobuser/.local/bin/ros_cross_compile", line 8, in <module>
    sys.exit(main())
  File "/home/mobuser/.local/lib/python3.8/site-packages/ros_cross_compile/ros_cross_compile.py", line 237, in main
    cross_compile_pipeline(args, data_collector, platform)
  File "/home/mobuser/.local/lib/python3.8/site-packages/ros_cross_compile/ros_cross_compile.py", line 224, in cross_compile_pipeline
    stage(platform, docker_client, ros_workspace_dir, options, data_collector)
  File "/home/mobuser/.local/lib/python3.8/site-packages/ros_cross_compile/dependencies.py", line 131, in __call__
    gather_rosdeps(
  File "/home/mobuser/.local/lib/python3.8/site-packages/ros_cross_compile/dependencies.py", line 63, in gather_rosdeps
    docker_client.build_image(
  File "/home/mobuser/.local/lib/python3.8/site-packages/ros_cross_compile/docker_client.py", line 64, in build_image
    log_generator = docker_api.build(
  File "/home/mobuser/.local/lib/python3.8/site-packages/docker/api/build.py", line 252, in build
    response = self._post(
  File "/home/mobuser/.local/lib/python3.8/site-packages/docker/utils/decorators.py", line 46, in inner
    return f(self, *args, **kwargs)
  File "/home/mobuser/.local/lib/python3.8/site-packages/docker/api/client.py", line 187, in _post
    return self.post(url, **self._set_request_timeout(kwargs))
  File "/usr/lib/python3/dist-packages/requests/sessions.py", line 581, in post
    return self.request('POST', url, data=data, json=json, **kwargs)
  File "/usr/lib/python3/dist-packages/requests/sessions.py", line 533, in request
    resp = self.send(prep, **send_kwargs)
  File "/usr/lib/python3/dist-packages/requests/sessions.py", line 646, in send
    r = adapter.send(request, **kwargs)
  File "/usr/lib/python3/dist-packages/requests/adapters.py", line 498, in send
    raise ConnectionError(err, request=request)
requests.exceptions.ConnectionError: ('Connection aborted.', PermissionError(13, 'Permission denied'))

To Reproduce

Simply follow the tutorial to create a simple publisher-subscriber from the official documentation and try to run the following command:

ros_cross_compile dev_ws/ --arch armhf --os ubuntu --rosdistro galactic

Note: this happens for all --arch options, not only for armhf

System

OS (VM): Ubuntu 20.04.3 LTS (Focal Fossa)
ROS 2 Distro: Galactic
VirtualBox: 6.1.0 r135406
Host: Win10

EDIT:

I tried to run the docker in Privileged mode but still no luck

ros-tooling / cross_compile