YoheiKakiuchi / robotsimulation-docker

Robot simulation environment using docker

MainComponents

https://github.com/YoheiKakiuchi/robotsimulation-docker/tree/master/choreonoid_docker

Install docker

Install docker

https://docs.docker.com/install/linux/docker-ce/ubuntu/

$ sudo apt-get update

$ sudo apt-get install \
    apt-transport-https \
    ca-certificates \
    curl \
    software-properties-common

$ curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo apt-key add -

$ sudo apt-key fingerprint 0EBFCD88

$ sudo add-apt-repository \
   "deb [arch=amd64] https://download.docker.com/linux/ubuntu \
   $(lsb_release -cs) \
   stable"

$ sudo apt-get update

$ sudo apt-get install docker-ce docker-ce-cli containerd.io

$ sudo gpasswd -a $USER docker

not needed but ...

$ sudo reboot

docker test

$ docker run hello-world

Install nvidia-docker

For using nvidia graphic card for OpenGL and GPU

https://github.com/NVIDIA/nvidia-docker

# If you have nvidia-docker 1.0 installed: we need to remove it and all existing GPU containers
docker volume ls -q -f driver=nvidia-docker | xargs -r -I{} -n1 docker ps -q -a -f volume={} | xargs -r docker rm -f
sudo apt-get purge -y nvidia-docker

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

# Test nvidia-smi with the latest official CUDA image
docker run --gpus all nvidia/cuda:10.0-base nvidia-smi