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Docker install

These instructions contain information for running SubT simulation software using Docker. We recommend a computer that conforms to the System Requirements, however you may have success with a non-Ubuntu computer. The primary advantage of Docker is that all the software required for SubT is self-contained and does not get installed directly on your system.

Docker has two available versions: Community Edition (CE) and Enterprise Edition (EE). In this tutorial, we'll install the CE version.

Install Docker

  1. Remove old versions of Docker (if installed):

    sudo apt-get remove docker docker-engine docker.io
    
  2. Install dependencies and keys.

    sudo apt install curl apt-transport-https ca-certificates curl software-properties-common
    
    # Add the official GPG key of Docker
    curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo apt-key add -
    
  3. Setup Docker using 1 of the two options below.

    1. Ubuntu Bionic users

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

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

    sudo apt-get update && sudo apt-get install docker-ce
    
  5. Check your Docker installation:

    sudo docker run hello-world
    
  6. You should see the message Hello from Docker! confirming that your installation was successfully completed.

Install Nvidia Docker

  1. Remove old versions of Nvidia Docker:

    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
    
  2. Setup the Nvidia Docker repository.

    curl -s -L https://nvidia.github.io/nvidia-docker/gpgkey | sudo apt-key add -
    distribution=$(. /etc/os-release;echo $ID$VERSION_ID)
    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
    
  3. Install Nvidia Docker (version 2):

    sudo apt-get install -y nvidia-docker2
    
  4. Restart the Docker daemon

    sudo service docker restart
    
  5. Verify the installation:

    docker run --runtime=nvidia --rm nvidia/cuda nvidia-smi
    

    This command should print your GPU information, for example:

    Screenshot from 2018-06-20 08-21-43.png

Troubleshooting:

permission error

If this is the first time you've used Docker on this machine, when you run the above command you may get an error similar to...

    docker: Got permission denied while trying to connect to the Docker daemon socket at unix:///var/run/docker.sock: Post http://%2Fvar%2Frun%2Fdocker.sock/v1.37/containers/create: dial unix /var/run/docker.sock: connect: permission denied. See 'docker run --help'.

You will need to add your user account the docker group,

    sudo usermod -a -G docker $USER

and then logout-log-back-in for the changes to take effect.

docker: Error response from daemon

If you see an error similar to the following

    docker: Error response from daemon: OCI runtime create failed: container_linux.go:348: starting container process caused "process_linux.go:402: container init caused \"process_linux.go:385: running prestart hook 1 caused \\\"error running hook: exit status 1, stdout: , stderr: exec command [/usr/bin/nvidia-container-cli --load-kmods configure --ldconfig=@/sbin/ldconfig.real --device=all --compute --utility --require=cuda>=9.0 --pid=4077 /var/lib/docker/overlay2/882c5e8dd7e64585e210cc885e150bd82f157383d44b5933d4aa82134ac103a9/merged]\\\\nnvidia-container-cli: initialization error: driver error: failed to process request\\\\n\\\"\"": unknown.
    ERRO[0001] error waiting for container: context canceled

Then you probably need to install nvidia drivers on your host machine using:

    sudo apt-get install nvidia-384

Reboot your machine after installing the drivers.

Build the SubT image

  1. Download the Docker SubT image and some scripts:

    mkdir -p ~/subt_docker/subt && cd ~/subt_docker/subt
    wget https://bitbucket.org/osrf/subt/raw/default/docker/subt/Dockerfile
    cd ..
    wget https://bitbucket.org/osrf/subt/raw/default/docker/build.bash
    wget https://bitbucket.org/osrf/subt/raw/default/docker/run.bash
    wget https://bitbucket.org/osrf/subt/raw/default/docker/join.bash
    chmod u+x build.bash run.bash
    
  2. Build the SubT Docker image:

    ./build.bash subt
    
  3. Run the SubT container:

    ./run.bash subt
    
  4. Test your SubT installation:

    roslaunch subt_gazebo competition.launch
    
  5. You can also open another terminal and join the running docker instance using:

    ./join.bash subt
    

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