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Docker for robots

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

  1. Setup the docker container in Windows
  2. Setup the docker container in MacOS (Gazebo Does not work)

Windows:

Follow the instructions to install docker

Open the command line and install choco

@"%SystemRoot%\System32\WindowsPowerShell\v1.0\powershell.exe" -NoProfile -InputFormat None -ExecutionPolicy Bypass -Command " [System.Net.ServicePointManager]::SecurityProtocol = 3072; iex ((New-Object System.Net.WebClient).DownloadString('https://chocolatey.org/install.ps1'))" && SET "PATH=%PATH%;%ALLUSERSPROFILE%\chocolatey\bin"

Then install X serever

choco install vcxsrv

Launch the X server from the command line

"C:\Program Files\VcXsrv\vcxsrv.exe" :0 -multiwindow -clipboard -nowgl -ac

Run ipconfig and keep the IPv4 address to use it as <windows_ip>

Then you have two options:

  • If your PC has an NVIDIA GPU For Tiago:

    docker build -t <docker_name> https://raw.githubusercontent.com/iROSA-lab/Docker_env/main/Docker_tiago/Dockerfile_nvidia

    For Franka:

    docker build -t <docker_name> https://raw.githubusercontent.com/iROSA-lab/Docker_env/main/Docker_franka/Dockerfile_nvidia

    Create a container

    docker run -it --net=host --gpus all ^
    --privileged ^
    --env="NVIDIA_DRIVER_CAPABILITIES=all" ^
    --env="QT_X11_NO_MITSHM=1" ^
    --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" ^
    --env="DISPLAY=<windows_ip>:0" ^
    --name="<docker_name>"^
    <docker_name> ^
    bash

  • If your PC does not have an NVIDIA GPU Build the docker image
    For Tiago:

    docker build -t <docker_name> https://raw.githubusercontent.com/iROSA-lab/Docker_env/main/Docker_tiago/Dockerfile_no_GPU

    For Franka:

    docker build -t <docker_name> https://raw.githubusercontent.com/iROSA-lab/Docker_env/main/Docker_franka/Dockerfile_no_GPU

    Create a container

    docker run -it --net=host ^
    --privileged ^
    --env="DISPLAY=<windows_ip>:0" ^
    --env="QT_X11_NO_MITSHM=1" ^
    --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" ^
    --name="<docker_name>"^
    <docker_name> ^
    bash

MacOS:

(Gazebo does not work on MAC)

Follow the instructions to install docker

Setup X server for X11 forwarding, follow the instructions in this gist

Build the docker image
For Tiago:

docker build -t <docker_name> https://raw.githubusercontent.com/iROSA-lab/Docker_env/main/Docker_tiago/Dockerfile_no_GPU

For Franka:

docker build -t <docker_name> https://raw.githubusercontent.com/iROSA-lab/Docker_env/main/Docker_franka/Dockerfile_no_GPU

Then run

defaults write org.xquartz.X11 enable_iglx -bool true

Create a container

ip=$(ifconfig en0 | grep inet | awk '$1=="inet" {print $2}')
docker run -it --net=host \
    --env="DISPLAY=$ip:0" \
    --env="QT_X11_NO_MITSHM=1" \
    --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
    -v "$SSH_AUTH_SOCK:$SSH_AUTH_SOCK" -e SSH_AUTH_SOCK=$SSH_AUTH_SOCK\
    --name="<docker_name>"\
    --privileged <docker_name> \
    bash

Usage

Start the docker container (only once)

docker start <docker_name>

Allow X11 forwarding via xhost

xhost +

For each new terminal, connect to the running container

docker exec -it <docker_name> bash

You can stop the docker when you are done

docker stop <docker_name>