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diegoferigo/yarp

By diegoferigo

•Updated about 9 years ago

Image to build my YARP setup

Image
0

521

diegoferigo/yarp repository overview

Dockerfile for YARP and iCub, built on top of latest ubuntu xenial image.

Features:

  • X11 authentication for GUIs
  • Image size: 2.45GB
  • User created during runtime

⁠Build the image

 docker build -t diegoferigo/yarp .

⁠Alternative: get the image from dockerhub

docker pull diegoferigo/yarp .

⁠User configuration

This docker image allows the creation of a runtime user, whose default UID and GID is 1000. To override these values and to start the container, execute:

USER_UID=1000
USER_GID=1000
USERNAME=foo

docker run -i -t --rm \
	-e USER_UID=$USER_UID \
	-e USER_GID=$USER_GID \
	-e USERNAME=$USERNAME \
	-p 10000:10000 \
	--name yarp \
	diegoferigo/yarp \
	bash

Then, open as many ttys as needed with

docker exec -it yarp bash

⁠X11 host access

XSOCK=/tmp/.X11-unix
XAUTH=/tmp/.docker.xauth

touch $XAUTH
xauth nlist $DISPLAY | sed -e 's/^..../ffff/' | xauth -f $XAUTH nmerge -

docker run -i -t --rm \
	-p 10000:10000 \
	-v $XSOCK:$XSOCK:rw \
	-v $XAUTH:$XAUTH:rw \
	-e XAUTHORITY=${XAUTH} \
	-e "DISPLAY" \
	--name yarp \
	diegoferigo/yarp \
	iCubGui

If you need HW acceleration (only for Intel graphic cards), add also this device flag --device=/dev/dri.

⁠Starting a YARP server container

docker run -i -t --rm \
	-p 10000:10000 \
	-e USERNAME=$(whoami) \
	--name yarp \
	diegoferigo/yarp \
	sh -c 'yarp namespace /${USERNAME} && yarpserver'

⁠TODO

  • YARP dynamically opens ports. Check how to handle its behavior

⁠Resources

Tag summary

Content type

Image

Digest

Size

532.1 MB

Last updated

about 9 years ago

docker pull diegoferigo/yarp