Docker container with Chrono-main with ROS2 Humble and PyChrono

Installation

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Pre-requisites:

1. Clone the repository

git clone https://github.com/Auc7us/chrono-docker/

Install Git LFS and

git lfs pull

2. Install Docker Engine

sudo apt-get install docker-ce docker-ce-cli containerd.io docker-buildx-plugin docker-compose-plugin

3. Install Nvidia Container Toolkit

4. Install Python Venv

sudo apt update
sudo apt install python3-venv -y

Setup

• Build the docker image

  chmod +x setup_chrono_docker.sh
  ./setup_chrono_docker.sh
  

• Inside the container, build Chrono in the persistent mount directory on host using :

  cd ..
  chmod +x buildChronoInMount.sh
  ./buildChronoInMount.sh
  

Usage Instructions

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• Activate the pip3 virtual env to use atk

  cd chrono-docker
  source ../.chrono-env/bin/activate
  

• To spin up and attach to the container

  atk dev -ua -s chrono -o x11 gpus
  

• To docker compose down, build, spin up and attach to the container

  atk dev -dbua -s chrono -o x11 gpus
  

• Understanding -dbua flags:

  • d : Stop and remove containers (docker compose down)
  • b : Build docker image (docker build)
  • u : Spin up a new docker container (docker compose up)
  • a : Attach to a running docker container (docker exec or docker attach)

• atk is a simple wrapper around docker compose, additional information can be found here

7. Run Demos

• Inside the container
  • Python demos

    cd ~/mountdir/chrono/src/demos/python/robot/
    python3 demo_ROBOT_Viper_Rigid.py
    

  • C++ demos

    cd ~/mountdir/chrono/build/bin/
    ./demo_ROBOT_Viper_Rigid
    

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Advanced Users

• For additional Chrono modules, edit the CMake flags in buildChronoInMount.sh

• You can find information on building Chrono and available modules on our website