Driving Swarm: Docker

This repository contains all files to get started with one of the following things:

• Develop for Driving Swarm (the easy way) using docker
• Deploy virtualized containers for a Driving Swarm application (for simulation)
• Deploy virtualized containers on (real) turtlebots

Prerequisites

• A Linux environment
• docker
• For GPU-support: A somewhat current version of Mesa
• For nvidia-GPU-support check here
• For Windows check here

Quickstart

This gets the pre-built image from https://hub.docker.com, you do not need to clone this repo. All you need is to install docker. Then, just run the following command to start the development container with the directory ./workspace mounted as ~/workspace:

docker run --name rosdev -d -h rosdev \
  --device=/dev/dri \
  -p 127.0.0.1:1800:1800 \
  -p 127.0.0.1:1900:1900 \
  -p 127.0.0.1:5900:5900 \
  -v "$PWD/workspace:/home/docker/workspace" \
  ovgudrivingswarm/development

You can now access Theia (an IDE-like code editor) with your browser at http://127.0.0.1:1900 and a virtual desktop environment at http://127.0.0.1:1800 (or with any VNC client (like Remmina) at 127.0.0.1:5900).

• To stop the container, run docker stop ros-development
• To restart it, run docker start ros-development
• To remove it completely, stop it and then run docker rm ros-development.

For Linux users: to avoid permission issues, don't change the path /home/docker/workspace to anything else.

Start with docker-compose

This is only needed when making changes to the Dockerfiles or when developing one yourself.

You will additionally need Git and Docker Compose.

To start a docker-container named image:

git clone [email protected]:ovgu-FINken/driving_swarm_docker.git
cd driving_swarm_docker
docker-compose up image

• To access a shell in a running container, you can use docker-compose exec image bash.
• You can also create a temporary container and run a command in it with docker-compose run --rm image bash
• See here for how to access the development-environment from development

Using make and manual builds

Manually building will take a long time.

To build a specific image with docker-compose use:

git clone [email protected]:ovgu-FINken/driving_swarm_docker.git
cd driving_swarm_docker
docker-compose build image

You can also just run make build-image to make the respective image.

GPU Acceleration

By default (and using the command above), GPU-acceleration is enabled. If you want to disable GPU acceleration, pass -e DISABLE_GPU=1 to your start command.

Intel, AMD

This should just work, if you have a somewhat recent version of Mesa installed in your Linux environment.

nvidia

• Using nvidia-GPUs with nouveau (the free driver for Linux) GPU-support should just work
• Using nvidia-GPUs with the proprietary driver, you need nvidia-docker
• On Windows you need:
  • WSL2
  • CUDA on WSL
  • WSL2 docker-backend

Then, instead of docker run in the launch command above, use nvidia-docker run --gpus all.

Running on Windows

This should theoretically run on Windows, it has not been tested yet however.

You will need the WSL2 and docker on WSL2 for running on Windows.

Furthermore you will need to:

• Replace the $PWD in the command with %cd%
• ...