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robosub-docker

Docker file for robosub

Known Issues

  • Ignore warnings about not able to create directory.
  • Integration with GPU is not tested Link 1Link 2

Running Docker Image

To run with GPU, use the following command with nvidia-docker instead of docker. From anywhere run

$ docker run -it \
    --rm \
    --name="matsya" \
    --user=$(id -u) \
    --env="DISPLAY" \
    --env="QT_X11_NO_MITSHM=1" \
    --workdir="/home/$USER" \
    --volume="/etc/localtime:/etc/localtime:ro" \
    --volume="/etc/group:/etc/group:ro" \
    --volume="/etc/passwd:/etc/passwd:ro" \
    --volume="/etc/shadow:/etc/shadow:ro" \
    --volume="/etc/sudoers.d:/etc/sudoers.d:ro" \
    --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
    --volume=$HOME"/.ros:"$HOME"/.ros:rw" \
    --volume=$HOME"/catkin_ws:"$HOME"/catkin_ws:rw" \
    --device /dev/nvidia0:/dev/nvidia0:rw \
    --device /dev/nvidiactl:/dev/nvidiactl:rw \
    --device /dev/bus/usb:/dev/bus/usb:rwm \
    --device /dev/ttyS0:/dev/ttyS0:rw \
    --device /dev/ttyS1:/dev/ttyS1:rw \
    --device /dev/ttyS2:/dev/ttyS2:rw \
    --device /dev/ttyS3:/dev/ttyS3:rw \
    kunaltyagi/robosub:indigo \
    /usr/bin/docker-startup.sh

In order to run another command concurrently, use

$ docker exec -it matsya bash

This will drop you into root (/) of the docker. Only use it after the image is already running

Compiling image (after modification)

From this directory, run

$ docker build -t kunaltyagi/robosub:indigo --rm=true .

Remember the dot at the end.

Additional notes

  • parent docker is osrf/ros:indigo-desktop-full
  • if required, use the --net='host' or --privileged options (not needed now)