Documentation: RobotLocomotion/drake@fd3f209

Author: drake-jenkins-bot

bazel.html

@@ -384,14 +384,9 @@ <h3 id="install-on-macos">Install on macOS</h3>
   <li>Download and install <code class="language-plaintext highlighter-rouge">gurobi13.0.1_macos2_universal.pkg</code>.</li>
 </ol>
 
-<p>To confirm that your setup was successful, run the tests that require Gurobi:</p>
+<p>To confirm that your setup was successful, run a test that requires Gurobi:</p>
 
-<p><code class="language-plaintext highlighter-rouge">bazel test --config gurobi --test_tag_filters=gurobi //...</code></p>
-
-<p>The default value of <code class="language-plaintext highlighter-rouge">--test_tag_filters</code> in Drake’s <code class="language-plaintext highlighter-rouge">bazel.rc</code> excludes
-these tests.  If you will be developing with Gurobi regularly, you may wish
-to specify a more convenient <code class="language-plaintext highlighter-rouge">--test_tag_filters</code> in a local <code class="language-plaintext highlighter-rouge">.bazelrc</code>.
-See <a href="https://docs.bazel.build/versions/main/user-manual.html#bazelrc">https://docs.bazel.build/versions/main/user-manual.html#bazelrc</a>.</p>
+<p><code class="language-plaintext highlighter-rouge">bazel test --@drake//tools/flags:with_gurobi=True //solver:gurobi_solver_test</code></p>
 
 <h2 id="mosek">MOSEK</h2>
 
@@ -400,14 +395,9 @@ <h2 id="mosek">MOSEK</h2>
 
 <p><code class="language-plaintext highlighter-rouge">export MOSEKLM_LICENSE_FILE=/path/to/mosek.lic</code></p>
 
-<p>To confirm that your setup was successful, run the tests that require MOSEK<a href="/tm.html">™</a>:</p>
-
-<p><code class="language-plaintext highlighter-rouge">bazel test --config mosek --test_tag_filters=mosek //...</code></p>
+<p>To confirm that your setup was successful, run a test that requires MOSEK<a href="/tm.html">™</a>:</p>
 
-<p>The default value of <code class="language-plaintext highlighter-rouge">--test_tag_filters</code> in Drake’s <code class="language-plaintext highlighter-rouge">bazel.rc</code> excludes
-these tests.  If you will be developing with MOSEK<a href="/tm.html">™</a> regularly, you may wish
-to specify a more convenient <code class="language-plaintext highlighter-rouge">--test_tag_filters</code> in a local <code class="language-plaintext highlighter-rouge">.bazelrc</code>.
-See <a href="https://docs.bazel.build/versions/main/user-manual.html#bazelrc">https://docs.bazel.build/versions/main/user-manual.html#bazelrc</a>.</p>
+<p><code class="language-plaintext highlighter-rouge">bazel test --@drake//tools/flags:with_mosek=True //solvers:mosek_solver_test</code></p>
 
 <h2 id="snopt">SNOPT</h2>
 
@@ -433,14 +423,9 @@ <h3 id="using-your-own-source-archive">Using your own source archive</h3>
 
 <p>Test the build (for either mechanism)</p>
 
-<p>To confirm that your setup was successful, run the tests that require SNOPT:</p>
-
-<p><code class="language-plaintext highlighter-rouge">bazel test --config snopt --test_tag_filters=snopt //...</code></p>
+<p>To confirm that your setup was successful, run a test that requires SNOPT:</p>
 
-<p>The default value of <code class="language-plaintext highlighter-rouge">--test_tag_filters</code> in Drake’s <code class="language-plaintext highlighter-rouge">bazel.rc</code> excludes
-these tests.  If you will be developing with SNOPT regularly, you may wish
-to specify a more convenient <code class="language-plaintext highlighter-rouge">--test_tag_filters</code> in a local <code class="language-plaintext highlighter-rouge">.bazelrc</code>.
-See <a href="https://docs.bazel.build/versions/main/user-manual.html#bazelrc">https://docs.bazel.build/versions/main/user-manual.html#bazelrc</a>.</p>
+<p><code class="language-plaintext highlighter-rouge">bazel test --@drake//tools/flags:with_snopt=True //solvers:snopt_solver_test</code></p>
 
 <p>SNOPT support has some known problems on certain programs (see drake issue
 <a href="https://github.com/RobotLocomotion/drake/issues/10422">#10422</a> for a summary).</p>
@@ -454,6 +439,7 @@ <h1 id="optional-tools">Optional Tools</h1>
 
 <ul>
   <li>kcov – test coverage analysis</li>
+  <li>docker – debug CI failures using a virtual machine</li>
 </ul>
 
 <h2 id="kcov">kcov</h2>
@@ -496,7 +482,7 @@ <h2 id="kcov">kcov</h2>
 
 <h3 id="drake-bazel-rules-and-kcov">Drake bazel rules and kcov</h3>
 
-<p>Some Drake-specific bazel rules (e.g. <code class="language-plaintext highlighter-rouge">drake_cc_google_test</code>) use various
+<p>Some Drake-specific bazel rules (e.g. <code class="language-plaintext highlighter-rouge">drake_cc_googletest</code>) use various
 heuristics to skip certain tests in <code class="language-plaintext highlighter-rouge">kcov</code> builds. This may hinder developers
 trying to use <code class="language-plaintext highlighter-rouge">kcov</code> locally on specific tests. For example:</p>
 
@@ -511,6 +497,36 @@ <h3 id="drake-bazel-rules-and-kcov">Drake bazel rules and kcov</h3>
 <div class="language-plaintext highlighter-rouge"><div class="highlight"><pre class="highlight"><code>bazel test --config=kcov --test_tag_filters= //common:temp_directory_test
 </code></pre></div></div>
 
+<h2 id="docker">docker</h2>
+
+<p>Drake supports multiple Ubuntu versions. Developers who need to debug
+a CI failure on an Ubuntu version other than their desktop version can
+use Docker:</p>
+
+<p>Install docker:</p>
+
+<div class="language-plaintext highlighter-rouge"><div class="highlight"><pre class="highlight"><code>$ sudo apt install docker.io
+$ sudo usermod -aG docker $USER
+$ newgrp docker
+</code></pre></div></div>
+
+<p>Boot a virtual machine, clone Drake, install prereqs, and develop as usual:</p>
+
+<div class="language-plaintext highlighter-rouge"><div class="highlight"><pre class="highlight"><code>$ docker run --rm -it ubuntu:26.04
+# apt update
+# apt install -y git sudo
+# echo "ubuntu ALL=(ALL) NOPASSWD:ALL" &gt;&gt; /etc/sudoers
+# su - ubuntu
+$ git clone --depth=1 https://github.com/RobotLocomotion/drake.git
+$ cd drake
+$ git fetch origin pull/NNNNN/head &amp;&amp; git checkout FETCH_HEAD
+$ setup/install_prereqs -y --developer
+$ bazel test //common:fmt_test
+</code></pre></div></div>
+
+<p>When you exit the virtual machine it will be deleted, so be sure to
+capture what you need before exiting.</p>
+
       </article>
     </div>
   </section>