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Last pushed: 2 years ago
Short Description
Morse robotic simulator in a docker container
Full Description

docker-morse

Morse robotic simulator in a docker container

1st release - testing runtime case studies..

to use it in your docker setup:

docker pull giodegas/morse
docker run -it giodegas/morse morse --noaudio check

you should get this output log:

* Checking up your environment...
* Running on Linux. Alright.
* Found MORSE libraries in '/usr/local/lib/python3.4/site-packages/morse/blender'. Alright.
* Trying to figure out a prefix from the script location...
* Default scene found. The prefix seems ok. Using it.
* Setting $MORSE_ROOT environment variable to default prefix [/usr/local/]
* Checking version of /opt/blender/blender-2.73-linux-glibc211-x86_64/blender... Found v.2.73.0
* Blender found from $MORSE_BLENDER. Using it (Blender v.2.73.0)
* Checking version of Python within Blender /opt/blender/blender-2.73-linux-glibc211-x86_64/blender... Found v.3.4.2
* Blender emitted errors during launch:
AL lib: (EE) ALCplaybackOSS_open: Could not open /dev/dsp: No such file or directory
* Blender and Morse are using Python 3.4.2. Alright.
* Your environment is correctly setup to run MORSE.

then you can interact with morse:

$ docker start <container>
$ docker exec -it <container> /bin/bash
# morse --noaudio create <your_scene>
# morse --noaudio run <your_scene> -noaudio

if you have problem running under X, debug trying to make x11-apps to launch

$ docker start <container>
$ docker exec -it <container> /bin/bash
# xeyes &

or use subuser.

Fastmode graphics

As described in the morse installation documentation, using the

fastmode=True

in your scene contructors, morse will render you scene in wireframe mode, but some camera sensors will not be available.

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Owner
giodegas
Source Repository

Comments (3)
giodegas
3 years ago

updated to the latest morse version supporting the --noaudio option.
Please test it.

giodegas
3 years ago

there is a problem with sound. Blender wants a sound card, which does not make much sense in a docker image.
I added some more libraries to the base machine, but now says:

  • Blender emitted errors during launch:
    ALSA lib confmisc.c:768:(parse_card) cannot find card '0'
    ALSA lib conf.c:4241:(_snd_config_evaluate) function snd_func_card_driver returned error: No such file or directory
    ALSA lib confmisc.c:392:(snd_func_concat) error evaluating strings
    ALSA lib conf.c:4241:(_snd_config_evaluate) function snd_func_concat returned error: No such file or directory
    ALSA lib confmisc.c:1251:(snd_func_refer) error evaluating name
    ALSA lib conf.c:4241:(_snd_config_evaluate) function snd_func_refer returned error: No such file or directory
    ALSA lib conf.c:4720:(snd_config_expand) Evaluate error: No such file or directory
    ALSA lib pcm.c:2217:(snd_pcm_open_noupdate) Unknown PCM default
    AL lib: (EE) ALCplaybackAlsa_open: Could not open playback device 'default': No such file or directory

I am asking help to morse developers on this...

sacapuces
3 years ago

how do you run it ? I'm trying to do the following :

docker run -e DISPLAY=$DISPLAY -it giodegas/morse bash

and then in the container
root@4bf28003bb6a:/usr/src/morse/build# cd ..
root@4bf28003bb6a:/usr/src/morse# morse run examples/tutorials/tutorial-1-ros.py

but i get the following error :
<code>

  • Loading simulation </usr/src/morse/examples/tutorials/tutorial-1-ros.py>.

  • morse 1.2.2-dirty

  • Blender emitted errors during launch:
    AL lib: (EE) ALCplaybackOSS_open: Could not open /dev/dsp: Is a directory
    </code>

What did I miss?