/marus-docker

Dockerfiles for MARUS simulator

Primary LanguageDockerfile

Run MARUS on docker

Currently available only for Nvidia GPU.

  1. Make sure you have Nvidia drivers installed. That can be validated using nvidia-smi command.
  2. Install Nvidia-container-toolkit (>= 1.12.1)

https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/install-guide.html.

Test with nvidia/cuda:11.6.2-base-ubuntu20.04 image as described in the installation guide.

  1. Run xhost +

  2. Build docker image with

docker build -t marus_docker . --build-arg ssh_prv_key="$(cat ~/.ssh/id_rsa)" --build-arg ssh_pub_key="$(cat ~/.ssh/id_rsa.pub)"

Make sure you have git ssh configured.

  1. Run docker container with

docker run --rm -v /tmp/.X11-unix:/tmp/.X11-unix --gpus all --runtime nvidia -e DISPLAY=$DISPLAY --privileged -it marus_docker /bin/bash

Testing

  1. In docker container run command:

run ros2 launch grpc_ros_adapter ros2_server_launch.py

  1. In other terminal attach to that container with:

docker exec -it <container_id> /bin/bash

You can find you docker id using command docker ps

  1. When attached to container run Unity Hub with:

unityhub

and add marus_example project (/home/marus_user/marus_example).