Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

[doc] Update render engine setup instructions #22365

Draft
wants to merge 1 commit into
base: master
Choose a base branch
from
Draft

[doc] Update render engine setup instructions #22365

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
5 changes: 2 additions & 3 deletions doc/_pages/from_source.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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.

Expand Down
5 changes: 2 additions & 3 deletions doc/_pages/installation.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down
19 changes: 19 additions & 0 deletions doc/_pages/troubleshooting.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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}
Expand Down