iitschri/yarp repository overview

⁠YARP-DOCKER

YARP (Yet Another Robot Platform) Docker Images

YARP source code: https://github.com/robotology/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 iitschri/yarp:v1.0-runtime-ubuntu18.04

⁠Running YARP commands

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

⁠3. Building YARP Docker images

⁠Building and run a container with a custom configuration

If you need to build a YARP-DOCKER image with a specific YARP version you can specify it as build argument

git clone https://github.com/s4hri/yarp-docker.git
cd yarp-docker/runtime/ubutnu18.04
docker build --build-arg YARP_TAG_VER=v3.2.0 -t yarp .
docker run -ti --rm yarp

⁠4. Running GUI apps

⁠GUI apps with no OpenGL support

git clone https://github.com/s4hri/yarp-docker.git
cd yarp-docker/runtime/ubuntu18.04
docker build -t yarp-gui .
export XSOCK=/tmp/.X11-unix
export XAUTH=/tmp/.docker.xauth
xauth nlist $DISPLAY | sed -e 's/^..../ffff/' | xauth -f $XAUTH nmerge -
docker run -ti -v $XSOCK:$XSOCK \
               -v $XAUTH:$XAUTH \
               -e XAUTHORITY=$XAUTH \
               yarp-gui