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iits4hri/yarp

By iits4hri

•Updated almost 7 years ago

YARP Docker images

Image
0

147

iits4hri/yarp repository overview

⁠YARP-DOCKER

YARP (Yet Another Robot Platform) Docker Images

YARP source code: https://github.com/robotology/yarp⁠

⁠YARP Docker Images

  • yarp:base-ubuntu18.04
    It contains YARP source code (latest official master) compiled with basic configuration.

  • yarp:base-ubuntu18.04-nvidia-opengl
    It contains YARP source code (latest official master) compiled with basic configuration and NVidia drivers + OpenGL.

  • yarp:vX.Y.Z-runtime-ubuntu18.04 It contains YARP compiled and configured to run applications. A specific YARP version can be chosen at building time.

  • yarp:vX.Y.Z-runtime-ubuntu18.04-nvidia-opengl It contains YARP compiled and configured to run applications and NVidia drivers + OpenGL. A specific YARP version can be chosen at building time.

⁠1. Installing Docker

⁠Installing Docker on Ubuntu (18.04)

sudo apt-get update
sudo apt install apt-transport-https ca-certificates curl software-properties-common
curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo apt-key add -
sudo add-apt-repository "deb [arch=amd64] https://download.docker.com/linux/ubuntu bionic stable"
sudo apt update
sudo apt install docker-ce

⁠Configuring users

sudo usermod -aG docker ${USER}
su - ${USER}
id -nG

⁠2. Runnning YARP Docker images

⁠Quick run

It runs the container in interactive mode and remove the container when it exits.

docker run -ti --rm ddetommaso/yarp:v3.2.1-runtime-ubuntu18.04

⁠Running YARP commands

docker run --rm ddetommaso/yarp:v3.2.1-runtime-ubuntu18.04 <yarp command>

⁠Running YARP GUI applications + Audio

export XSOCK=/tmp/.X11-unix
export XAUTH=/tmp/.docker.xauth
xauth nlist $DISPLAY | sed -e 's/^..../ffff/' | xauth -f $XAUTH nmerge -

docker run -ti --rm \
            -v $XSOCK:$XSOCK \
            -v $XAUTH:$XAUTH \
            -e XAUTHORITY=$XAUTH \
            --device /dev/snd --env ALSA_CARD=Generic \
            ddetommaso/yarp:v3.2.1-runtime-ubuntu18.04

⁠Running YARP GUI applications + Audio for NVIDIA cards

distribution=$(. /etc/os-release;echo $ID$VERSION_ID)
curl -s -L https://nvidia.github.io/nvidia-docker/gpgkey | sudo apt-key add -
curl -s -L https://nvidia.github.io/nvidia-docker/$distribution/nvidia-docker.list | sudo tee /etc/apt/sources.list.d/nvidia-docker.list

sudo apt-get update && sudo apt-get install -y nvidia-container-toolkit
sudo systemctl restart docker;


export XSOCK=/tmp/.X11-unix
export XAUTH=/tmp/.docker.xauth
xauth nlist $DISPLAY | sed -e 's/^..../ffff/' | xauth -f $XAUTH nmerge -

docker run --gpus all \
           -ti --rm \
           -v $XSOCK:$XSOCK \
           -v $XAUTH:$XAUTH \
           -e XAUTHORITY=$XAUTH \
           --device /dev/snd --env ALSA_CARD=Generic \
           ddetommaso/yarp:v3.2.1-runtime-ubuntu18.04-nvidia-opengl

Tag summary

Content type

Image

Digest

Size

736.7 MB

Last updated

almost 7 years ago

docker pull iits4hri/yarp:v3.2.1-runtime-ubuntu18.04-nvidia-opengl