Docker Tutorial

I use reveal.js as the presentation slides. You can open index.html in the root directory in your browser to see the slides.

The directory docker_tut contains several Dockerfiles that I need in the slide show.

Setup

Most of the docker images in this repo need nvidia-docker support and assume the user uses a Linux PC with Nvidia GPU.

If you want to run the samples in the slides, you need to install nvidia-docker package.

Install Docker

Follow the official document. https://docs.docker.com/engine/install/

Important Notes

1. If your laptop does not support GPU directly connecting to your laptop's display, then most of the Nvidia's image might not use your Nvidia GPU to render the graphics. You can use --device=/dev/dri:/dev/dri to leverage your integrated GPU to render the graphics.
2. Before every X11 forwarding, you should type xhost + in your terminal to let the xorg allow the forwarding.

Install nvidia-docker

Please read the following links before proceeding

You need to install Nvidia's driver first

Links:

• https://github.com/NVIDIA/nvidia-container-toolkit
• https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html

sudo apt-get update \
    && sudo apt-get install -y nvidia-container-toolkit-base

sudo apt-get install -y nvidia-container-toolkit 

sudo nvidia-ctk runtime configure --runtime=docker

sudo systemctl restart docker

If your apt has trouble locating `nvidia-container-toolkit-base` package, you need to use the following commands to add Nvidia's source list

distribution=$(. /etc/os-release;echo $ID$VERSION_ID)
curl -s -L https://nvidia.github.io/nvidia-docker/gpgkey | sudo apt-key add -
curl -s -L https://nvidia.github.io/nvidia-docker/$distribution/nvidia-docker.list | sudo tee /etc/apt/sources.list.d/nvidia-docker.list

sudo apt-get update && sudo apt-get install -y nvidia-container-toolkit
sudo systemctl restart docker

Pull required images

Just run

bash pull.bash

to pull the following images

docker pull osrf/ros:noetic-desktop-full
docker pull nvidia/cuda:11.6.2-base-ubuntu20.04
docker pull zhangbaozhe/ros:noetic
docker pull zhangbaozhe/ros_xrdp:noetic
docker pull zhangbaozhe/ros_nvidia:noetic
docker pull zhangbaozhe/ros_nvidia_px4:noetic
docker pull zhangbaozhe/ros_nvidia_px4:noetic_simulation
docker pull zhangbaozhe/ros_nvidia_px4:noetic_controller