docker_sim - IRS-group/isr_tiago_docs GitHub Wiki

To easily run our simulation, you can use Docker. We have prepared a docker image that allows you to run the simulation without installing all PAL packages.

  1. Install Docker

To install Docker please follow this link. To find out more on ROS + Docker you can check this link.

You might want to learn how to operate with docker. Commands that are useful are, for example:

docker pull <image>                             # pull images from the docker hub in the internet
docker run -it <image>                          # start a docker image
docker ps -al                                   # check images that are running
docker exec -it <name_of_image> bash            # open a new terminal for a certain image
  1. Install rocker

Rocker allows the use of nvidia drivers. For more info please read this link. To install it use the following commands:

distribution=$(. /etc/os-release;echo $ID$VERSION_ID)    && curl -s -L https://nvidia.github.io/nvidia-docker/gpgkey | sudo apt-key add -    && curl -s -L https://nvidia.github.io/nvidia-docker/$distribution/nvidia-docker.list | sudo tee /etc/apt/sources.list.d/nvidia-docker.list
sudo apt-get update
sudo apt-get install -y nvidia-docker2
sudo systemctl restart docker
  1. Run the image

To run with nvidia use the following command to use the nvidia GPU:

rocker --home --user --nvidia --x11 --privileged palroboticssl/tiago_tutorials:noetic --net=host

or this one to run only on cpu:

rocker --home --user --x11 --privileged palroboticssl/tiago_tutorials:noetic --devices /dev/dri/card0 --net=host
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