Docker for robots

The instructions to setup a docker image for Tiago++ in ROS, with X11 forwarding to use stream GUI to the monitor of the host PC. Table of contents

• Docker for robots
  • Linux installation:
  • Isaac sim docker
  • Usage instructions

Additionally, you can find the instructions to setup the docker in Windows and MacOS

Linux installation:

Update init-system-helpers

wget http://ftp.kr.debian.org/debian/pool/main/i/init-system-helpers/init-system-helpers_1.60_all.deb
sudo apt install ./init-system-helpers_1.60_all.deb

Set up Docker's repository and install the Docker desktop, see here for more info

sudo apt install curl qemu-system-x86 pass uidmap
sudo apt install -y ca-certificates curl gnupg lsb-release
sudo mkdir -p /etc/apt/keyrings
curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo gpg --dearmor -o /etc/apt/keyrings/docker.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/docker.gpg] https://download.docker.com/linux/ubuntu $(lsb_release -cs) stable" | sudo tee /etc/apt/sources.list.d/docker.list > /dev/null
sudo apt update -y
sudo apt-get install docker-ce-cli
wget https://desktop.docker.com/linux/main/amd64/docker-desktop-4.14.1-amd64.deb
sudo dpkg -i docker-desktop-4.14.1-amd64.deb
sudo apt install containerd docker.io

Allow X11 forwarding via xhost

xhost +

Manage Docker as a non-root user

sudo groupadd docker
sudo usermod -aG docker $USER
newgrp docker

Verify that you can run docker commands without sudo

docker run hello-world

Create aliases for running docker with and without Nvidia:

wget https://raw.githubusercontent.com/pearl-robot-lab/Docker_env/main/create_alias.sh
bash create_alias.sh

Then you have two options:

• If your PC has an Nvidia GPU:

  Run the scripts for Nvidia drivers

  wget https://raw.githubusercontent.com/pearl-robot-lab/Docker_env/main/nvidia-scripts.sh
  bash nvidia-scripts.sh
  sudo apt install -y nvidia-docker2
  sudo systemctl daemon-reload
  sudo systemctl restart docker
  

  Pull the docker image

  For Tiago:

  docker pull 3liyounes/pearl_robots:tiago
  

  For Franka: use the pre-built docker image available at dockerhub:

  docker pull 3liyounes/pearl_robots:franka
  

  OR build the given Dockerfile in the Docker_franka directory in this repository. Rename the Dockerfile_nvidia to Dockerfile, enter the Docker_franka folder and then build it:

  docker build -t projectlab .
  

  Create a container with a name to contain the pulled image (only once!)

  source ~/.bashrc
  docker_run_nvidia --name=container_name 3liyounes/pearl_robots:franka bash
  

• If your PC does not have an Nvidia GPU:

  Pull the docker image

  For Tiago:

  docker pull 3liyounes/pearl_robots:tiago_wo_nvidia
  

  For Franka: use the pre-built docker image available at dockerhub:

  docker pull 3liyounes/pearl_robots:franka_wo_nvidia
  

  OR build the given Dockerfile in the Docker_franka directory in this repository. Rename the Dockerfile_no_GPU to Dockerfile, enter the Docker_franka folder and then build it:

  docker build -t projectlab .
  

  Create a container with a name to contain the pulled image (only once!)

  source ~/.bashrc
  docker_run_no_gpu --name=container_name 3liyounes/pearl_robots:franka_wo_nvidia bash
  

Isaac sim docker

• Sign in to the NGC website: go to https://ngc.nvidia.com/signin/email and then enter your email and password
• Click your user account icon in the top right corner and select Setup.
• Click Get API key to open the Setup > API Key page.
• Click Generate API Key to generate your API key.
• Use the command line to log in to NGC before pulling the Isaac Sim container.

  docker login nvcr.io
  

• Pull the Isaac Sim container:

  docker pull nvcr.io/nvidia/isaac-sim:2022.2.1
  

• Run the Isaac Sim container with an interactive Bash session:

  docker_run_isaac
  

  or if you want to run it headless:

  docker_run_isaac_headless
  

Usage instructions

Start the docker container (only once)

docker start container_name

List existing containers and their names

docker ps -a 

Allow X11 forwarding via xhost

xhost +

For each new terminal, connect to the built container

docker exec -it container_name bash

You can stop the docker when you are done

docker stop container_name 

Remove a container if you want to delete everything in it

docker rm container_name