/docker-Optimization-of-robotic-arm-design

Primary LanguageDockerfile

這個映像檔內包含

  1. Ubuntu 18.04
  2. ROS melodic
  3. ROS package: moveit ....
  4. Cuda 10.2

tar 解壓縮

tar xvf cmake-3.20.0.tar.gz

build images

docker build -t samkaiyang/opt_dynamic_design:($tag_version) .

Now create a script to run the image called run_my_image.bash

XAUTH=/tmp/.docker.xauth
if [ ! -f $XAUTH ]
then
    xauth_list=$(xauth nlist :0 | sed -e 's/^..../ffff/')
    if [ ! -z "$xauth_list" ]
    then
        echo $xauth_list | xauth -f $XAUTH nmerge -
    else
        touch $XAUTH
    fi
    chmod a+r $XAUTH
fi

nvidia-docker run -it \
    --user=root \
    --net=host \
    --rm --ipc=host \
    --env="DISPLAY=$DISPLAY" \
    --env="QT_X11_NO_MITSHM=1" \
    --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
    --env="XAUTHORITY=$XAUTH" \
    --volume="$XAUTH:$XAUTH" \
    --runtime=nvidia \
    --privileged \
    -e LANG=C.UTF-8 \
    --volume=/dev:/dev \
    samkaiyang/opt_dynamic_design:($tag_version))\
    /bin/bash

Make the script executable

chmod a+x run_my_image.bash

Execute the script

sudo ./run_my_image.bash

If you want to add multiple terminals, you can enter the following commands in the new terminal

docker exec -it --user root ($CONTAINER ID) /bin/bash

Open VS code

sudo code /directory-to-open --user-data-dir='.' --no-sandbox

note: use tensorflow error fixed

at /usr/local/lib/python3.6/dist-packages/tf_agents/utils/common.py

# def save(self, global_step: tf.Tensor,
  #          options: tf.train.CheckpointOptions = None):
  #   """Save state to checkpoint."""
  #   saved_checkpoint = self._manager.save(
  #       checkpoint_number=global_step, options=options)
  #   self._checkpoint_exists = True
  #   logging.info('%s', 'Saved checkpoint: {}'.format(saved_checkpoint))

  def save(self, global_step):
    """Save state to checkpoint."""
    saved_checkpoint = self._manager.save(checkpoint_number=global_step)
    self._checkpoint_exists = True
    logging.info('%s', 'Saved checkpoint: {}'.format(saved_checkpoint))