Spartan inside Docker
The following is all of the steps to build spartan with docker from a fresh Ubuntu installation:
- Install Docker for Ubuntu
- Make sure to
sudo usermod -aG docker your-userand then not run below docker scripts as
sudo. After applying this change you made need to log out and then log back in for the changes to take effect.
nvidia-docker. Make sure to use
nvidia-docker2as it has a known issue with OpenGL. See this issue. Follow the instructions on their webpage but replace
sudo apt-get install -y nvidia-docker2
sudo apt-get install -y nvidia-docker
You can test that your nvidia-docker installation is working by running
nvidia-docker run --rm nvidia/cuda nvidia-smi
If you get errors about nvidia-modprobe not being installed, install it by running
sudo apt-get install nvidia-modprobe
and then restart your machine.
- Clone, setup, and build Spartan: You need to have ssh keys setup to clone the submodules. Make sure that these ssh keys don't have a password, otherwise it will not work.
git clone email@example.com:RobotLocomotion/spartan.git cd spartan git submodule sync git submodule update --init ./setup/docker/docker_build.py ./setup/docker/docker_run.py mkdir build && cd build && use_ros && cmake .. && use_spartan && make -j8
Below is explained additional options and details of the above.
Building Docker Image
After cloning spartan and setting up submodules, from the spartan root directory run
to build a docker image. The default image name is
<username> is your username on the host machine. Optionally you can pass the option
-i <image_name> to specify the name of the image. Use
-h to see a full list of command line options. Note you can also rename the image after building (see Docker Cheatsheet below).
This is a basic 16.04 environment with the necessary dependencies for
Running a Docker Container
To create container derived from the image that was just build run (from the
spartan root directory)
By default this will create a container named
<username>-spartan derived from an image named
<username>-spartan. It also creates a user named
<username> inside the docker container. By default this username will match the current username on the host machine. This is important for SSH keys used in cloning private github repos to work properly. The default password for your user inside the docker container is
password. User the
-p flag to set a different password.
This container mounts your current
spartan directory at
/home/<username>/spartan. You can use the optional command line arguments
-i <image_name> to derive a container from a specific image, and
-c <container_name> to name the container. Use
-h to see a full list of command line arguments. By default the container will be deleted upon exiting the container (due to the
--rm flag), but both the source code and the compiled binaries live outside the container.
See here for more documentation on the
docker run command.
Building Spartan inside the Docker container
cd /root/spartan mkdir build && cd build use_ros cmake .. use_spartan make -j
After you configure the build you will find a file named
inside the build folder. The alias
use_spartan in your docker environment sources this file. You should read the contents of
setup_environment.sh to see what it does.
In addition to modifying your PATH and other variables, it also defines some
useful aliases for developers.
docker images- lists all docker images on machine, including REPOSITORY, TAG, IMAGE_ID, when created, size
docker tag IMAGE_ID NEW_NAME- creates a new REPOSITORY:TAG for an IMAGE_ID
docker rmi REPOSITORY:TAG- removes this tag for an image
docker tag IMAGE_ID my-spartan && docker rmi spartan-- example to combine above two commands to rename an image ID
- clean up stale artifacts
docker system prune.
docker ps -a- lists all containers on machine
docker rm CONTAINER_ID- removes container id
See this link.
docker system pruneprune dangling images, containes