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SHERPA World Model Dockerfile

This folder contains a Dockerfile to create a Docker container with a SHERPA world model.

Installation

  1. Install Docker.

  2. Build an image from this Dockerfile: either by invoking it relative to this folder:

  docker build -t sherpa-wm .

or by using the Dockerfile from the repository:

  docker build -t sherpa-wm https://raw.githubusercontent.com/blumenthal/ubx_robotscenegraph/master/docker/Dockerfile

Usage

  docker run -it --net=host -p 8888:8888 -p 11411:11411 -p 12912:12912 sherpa-wm
  cd ./ubx_robotscenegraph
  ./run_sherpa_world_model.sh --no-ros
  start_all()

The UBX web interface is available on port 8888, so it can be opened by any browser by typing: http://localhost:8888/.

You can kill the program with ctrl+c and then exit the docker container by typging exit.

Troubleshooting

If you get the following error

  Post http:///var/run/docker.sock/v1.19/containers/create: dial unix /var/run/docker.sock: permission denied. Are you trying to connect to a TLS-enabled daemon without TLS?

from the docker commands, run them with sudo.