Formula Student Driverless Simulator docker image

Directory contains docker image with Formula Student Driverless Simulator which is based on:

• Formula-Student-Driverless-Simulator
• ROS noetic
• NVIDIA docker image with Vulkan and CUDAGL

Requirements

Hardware

• recommended system requirements:

  • 8 core 2.3Ghz CPU
  • 12 GB memory
  • 30GB free SSD storage
  • NVidia card with Vulkan support and 3 GB of memory

• testing machine:

  • OS: Ubuntu 20.04.1 LTS 64-bit
  • Intel® Core™ i5-8400 CPU @ 2.80GHz × 6
  • RAM 15.6 GiB
  • GeForce GTX 1060 6GB

• docker image size is about 9 GB

Software

• docker >= 19.03
• NVIDIA GPU - nvidia-docker2 section installation on Ubuntu

Instalation

0. Clone repository

git clone https://github.com/PUTvision/RoboticsII-FSDS.git

1. Build docker image from docker directory

docker build -t fsds --network=host -f Dockerfile .

2. Add docker access to nvidia (it's require sudo privileges to execute)

chmod +x xauth.sh
./xauth.sh

3. Run docker image

docker run \
    -it --gpus all --privileged \
    --env="DISPLAY=$DISPLAY" \
    --env="QT_X11_NO_MITSHM=1" \
    --env="NVIDIA_DISABLE_REQUIRE=1" \
    --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
    --env="XAUTHORITY=$XAUTH" \
    --volume="$XAUTH:$XAUTH" \
    --env="NVIDIA_VISIBLE_DEVICES=all" \
    --env="NVIDIA_DRIVER_CAPABILITIES=all" \
    --network=host \
    --name=<STUDENT ID> \
    fsds

It is also possible using run_container.sh script:

./run_container.sh <STUDENT ID>

4. Get into the container from other terminal

docker exec -it <CONTAINER ID> bash

It is also possible using exec_to_container.sh script.