From db54b15cd98b9cd4d852c171810c23a66a217432 Mon Sep 17 00:00:00 2001 From: Jeremy Nimmer Date: Tue, 31 Dec 2024 14:58:10 -0800 Subject: [PATCH] WIP [doc] Update render engine setup instructions --- doc/_pages/from_source.md | 5 ++--- doc/_pages/installation.md | 5 ++--- doc/_pages/troubleshooting.md | 19 +++++++++++++++++++ 3 files changed, 23 insertions(+), 6 deletions(-) diff --git a/doc/_pages/from_source.md b/doc/_pages/from_source.md index 922e90c4cbc2..b722123d5900 100644 --- a/doc/_pages/from_source.md +++ b/doc/_pages/from_source.md @@ -31,9 +31,8 @@ report. All else being equal, we would recommend developers use Ubuntu 22.04 (Jammy). ⁽¹⁾ Drake features that perform image rendering (e.g., camera simulation) -require a working display server. Most personal computers will have this -already built in, but some cloud or docker environments may require extra -setup steps. +maybe require extra setup. See the +[troubleshooting](/troubleshooting.html#gl-init) page for details. ⁽²⁾ CPython is the only Python implementation supported. diff --git a/doc/_pages/installation.md b/doc/_pages/installation.md index b88937b3ede0..551f61033d73 100644 --- a/doc/_pages/installation.md +++ b/doc/_pages/installation.md @@ -35,9 +35,8 @@ with other versions of Python. However, these are not supported so if it doesn't work for you then please file a pull request with the fix, not a bug report. ⁽¹⁾ Drake features that perform image rendering (e.g., camera simulation) -require a working display server. Most personal computers will have this -already built in, but some cloud or docker environments may require extra -setup steps. +maybe require extra setup. See the +[troubleshooting](/troubleshooting.html#gl-init) page for details. ⁽²⁾ CPython is the only Python implementation supported. Drake is not tested regularly with Anaconda, so if you are using Anaconda you diff --git a/doc/_pages/troubleshooting.md b/doc/_pages/troubleshooting.md index 583f5bdcb633..12c2e9b064fe 100644 --- a/doc/_pages/troubleshooting.md +++ b/doc/_pages/troubleshooting.md @@ -165,6 +165,25 @@ env/bin/pip install drake source env/bin/activate ``` +# Image rendering + +## GL and/or DISPLAY {#gl-init} + +When performing image rendering (i.e., camera simulation), sometimes you may +need to configure your computer to provide Drake sufficient access to core +graphics libraries. + +Drake renders images using the +[RenderEngine](https://drake.mit.edu/doxygen_cxx/classdrake_1_1geometry_1_1render_1_1_render_engine.html) +abstract base class, which is typically configured using the +[CameraConfig](https://drake.mit.edu/doxygen_cxx/structdrake_1_1systems_1_1sensors_1_1_camera_config.html) +data structure via YAML, which can specify a concrete RenderEngine subclass to +be used. Refer to the +[hardware_sim](https://github.com/RobotLocomotion/drake/tree/master/examples/hardware_sim) +example for details. + +Depending on the ... + # Build problems ## Out of memory {#build-oom}