mujoco_sim_docker

This repository contains docker images for deploying ROS packages for MuJoCo with https://github.com/K4R-IAI/K4R_Development

0. Prerequisites: https://docs.docker.com/desktop/install/ubuntu/

No ROS required, No Unreal Engine required, just a PC with a good NVIDIA Graphic Card :)

Check your docker-compose and docker-py versions:

$ docker -v
Docker version 20.10.23, build 7155243
$ docker compose version
Docker Compose version v2.15.1

1. If you want to use a package simulator from Unreal Engine, download it here and unzip it

2. Clone this repository and go into the checked out folder:

cd mujoco_sim_docker

3. Follow these steps to build docker images:

3.1. Clone the packages with wstool

sudo apt install ros-${ROS_DISTRO}-mk # This step is to make sure the mk from rospack is there
./setup_ros_packages.bash

3.2. Install nvidia-docker2 to enable GPU access with Compose (sudo required)

./setup_rviz.bash

3.3. Apply for a free academic license for Gurobi, see Gurobi Academic Web License Service for more information

1) Register for a free Gurobi account as an academic and log in.

2) Visit the Gurobi User Portal

3) Request and download your Academic WLS License

4) Move your licencse gurobi.lic in images/giskard-ws-image folder

Note: Your computer must be connected to a recognized academic institution network when the request is made. Your WLS license will be valid for 90 days and is renewable for as long as you maintain eligibility.

3.4. Build the docker images

source .env # This step is to make sure the ROS_DISTRO is noetic
docker compose build

4. Using the docker images

4.1. Start ros-core-servce and mujoco-ws-service

docker compose up mujoco-ws-service

4.2. Start the simulation (either by clicking Play in Unreal Engine or from the unziped package)

sh Waterfront.sh

4.3. You can visualize everything with rviz from docker container

./run_rviz.bash

The result should look like this:

5. Connect to docker container via ROS

export ROS_MASTER_URI=http://192.168.75.2:11311
export ROS_IP=$(hostname -I | awk '{print $1}') #your IP

6. Stop docker containers

6.1. Cancel every terminals with Ctrl + C

6.2. Remove docker containers and network

docker compose down