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Container Installation

Table of Contents

Container Setup

1. Install Docker

# Docker installation using the convenience script
curl -fsSL https://get.docker.com -o get-docker.sh
sudo sh get-docker.sh

# Post-install steps for Docker
sudo groupadd docker
sudo usermod -aG docker $USER
newgrp docker

# Verify Docker
docker run hello-world

Note: Log out and log back in may be required for the group changes to take effect.

2. Install the NVIDIA Container Toolkit

# Configure the repository
curl -fsSL https://nvidia.github.io/libnvidia-container/gpgkey | sudo gpg --dearmor -o /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg \
    && curl -s -L https://nvidia.github.io/libnvidia-container/stable/deb/nvidia-container-toolkit.list | \
    sed 's#deb https://#deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://#g' | \
    sudo tee /etc/apt/sources.list.d/nvidia-container-toolkit.list \
    && \
    sudo apt-get update

# Install the NVIDIA Container Toolkit packages
sudo apt-get install -y nvidia-container-toolkit
sudo systemctl restart docker

# Configure the container runtime
sudo nvidia-ctk runtime configure --runtime=docker
sudo systemctl restart docker

# Verify NVIDIA Container Toolkit
docker run --rm --runtime=nvidia --gpus all ubuntu nvidia-smi

Building the Container

The provided Dockerfile builds containers with the following specifications:

  • ROS1-User Container:
    • Based on nvidia/cuda:11.8.0-devel-ubuntu20.04, which includes:
      • CUDA 11.8 development environment
      • Ubuntu 20.04 as the base operating system
    • Graphics Support:
      • Preconfigured with OpenGL and the Vulkan SDK for hardware-accelerated rendering and simulation.
    • ROS 1 Noetic:
      • suitable for robotics applications on Ubuntu 20.04
    • Python Environment:
      • Installs Miniconda3 for Python package management and environment isolation.
      • Configures the environment with the conda-forge channel and strict channel priority.
    • Dynamic User Environment:
      • Creates a non-root development user with sudo privileges
      • Uses Zsh as the default shell, with Oh My Zsh pre-installed for a modern CLI experience
      • Source the ROS 1 setup script to ensure ROS 1 environment variables are available in the shell
      • Source the catkin workspace setup script to ensure the workspace is properly configured
      • Activate the conda environment ~/code/.env on shell startup
    • Entrypoint:
      • Maps the host's $UID and $GID to the container's user and group IDs, allowing for seamless file permission management between the host and the container.

1. Generate the .env and docker-compose.yaml files

Below shell will generate the .env file, create the binding directories, and create the docker-compose.yaml file.

bash docker/generate_env.sh

2. Build the ROS 1 Image

  • Build the image irvlutd/ubuntu20.04-cuda-11.8.0-ros-noetic:latest:
bash docker/container_handler.sh build ros1-user
  • Ensure the image is built successfully by running:
docker images
# You should see the image `irvlutd/ubuntu20.04-cuda-11.8.0-ros-noetic` in the list