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Docker CoppeliaSim

Warning

These are not official images.
They are based on the EDU versions of CoppeliaSim used in the SmartArmStack.
See: https://www.coppeliarobotics.com

Current images

Docker Pulls

Ubuntu Version CoppeliaSim Version Tag
Noble 4.10.0rev0 latest
Noble 4.9.0rev6 noble_490rev6
Noble 4.7.0rev4 noble_470rev4

Example docker compose

Tip

You can replace murilomarinho/coppeliasim:latest with your desired image.

Contents of the compose.yml.

services:
    coppeliasim:
        image: murilomarinho/coppeliasim:latest
        environment:
          - DISPLAY # x server related
          - ROS_DOMAIN_ID
        privileged: true # Needed for some gpu configurations.
        volumes:
          - /tmp/.X11-unix:/tmp/.X11-unix # x server related
          - ~/.Xauthority:/root/.Xauthority # x server related
        command: /bin/bash -c "
          cd $$COPPELIASIM_PATH
          && ./coppeliaSim.sh "

Tip

You can send commandline arguments to coppeliaSim.sh as defined in the official documentation.

Which can be run in the same directory with

xhost +local:root
docker compose up