RoboCup 3D Soccer Simulation in Docker

This repository provides Dockerfiles and tools to easily run the SimSpark based RoboCup 3D Soccer Simulation server and related applications. At the moment this consists of the following images:

rcssserver3d - runs by default the rcssserver3d server, can also be used to run example agent, and possibly as a base for other SimSpark based simulations.
roboviz - runs the RoboViz visualization tool.

Quickstart

Docker compose files are provided to quickly bring up the simulation server and RoboViz. If you have an NVidia GPU and use the official NVidia drivers, use the nvidia compose files:

docker-compose -f docker-compose.nvidia.yml up

This requires the NVIDIA Container Runtime (nvidia-docker2) to be installed in order to run correctly.

In any other situation, try the mesa files:

docker-compose -f docker-compose.mesa.yml up

You should see messages about rcssserver3d and roboviz starting up, with a Roboviz window being opened showing the simulation. If this doesn't work, most likely when you have a different GPU with proprietary drivers, a merge request for that platform would be very welcome.

Advanced Usage

There are two main ways to run your own agents and have them communicate with the server:

1. Run in a container with docker compose

Create a Docker image for your agents. You can then copy the provided Docker compose file and add an additional service for your agents. As an example, you can add the following service to run the example agent provided with the server:

  rcssagent3d:
    image: rcss3d/rcssserver3d:latest
    entrypoint: rcssagent3d
    command: ["--host=rcssserver3d"]
    depends_on:
      - rcssserver3d

2. Run agents natively

If you have your agents compiled natively on your host machine, you have to run the server with ports published to your host. Examples of this can be found by using the run.sh scripts provided along with the Docker files:

cd rcsserver3d && ./run.sh
[ new terminal ]
cd roboviz && ./run.sh mesa

Use nvidia instead of mesa if applicable. The server's ports 3100 and 3200 are then reachable on the local host.

Troubleshooting

RoboViz can't connect to X11 window server

You may have to allow the docker user to connect to the X11 server, which can be done by running:

xhost +"local:docker@"

When finished, you can remove this permission again by running:

xhost -"local:docker@"

RCSSServer3D is not the latest version

The Docker Compose files and the run.sh script use the latest Docker image tags. This really just means 'the latest version you have downloaded', not necessarily 'the latest version available'. To get the latest version, you have to explicitly 'pull' it. You can do this with docker directly:

docker pull rcss3d/rcssserver3d:latest

You can also use Docker Compose which ensures that both the rcssserver3d and the roboviz image are up to date in one go:

docker-compose -f docker-compose.nvidia.yml pull

Again, use the mesa version if applicable.

Alternatively you can edit the compose file or run-script to specify an explicit version you want to use, instead of latest.

parthjindal/server3d