Any Linux distribution running an X11 server. Nvidia GPU and driver
First, pull the latest graic image.
docker pull pricejiang/graic:latest
Run the docker image
docker run --name graic_con --privileged --rm --gpus all --env NVIDIA_DISABLE_REQUIRE=1 -it --net=host -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix:rw -v [path-to-the-cloned-graic-repo]/src:/home/carla/graic-workspace/src:rw -v [path-to-the-downloaded-map]/map_package/:/home/carla/carla-simulator/CarlaUE4/Content/map_package/:ro pricejiang/graic carla-simulator/CarlaUE4.sh -opengl
If everything works, you will see a window named CarlaUE4. Now, open another terminal on the host machine and run:
docker exec -it graic_con /bin/bash
The above command connects you to the running container. Inside the container:
cd graic-workspace
catkin_make
source devel/setup.bash
roslaunch race carla_single.launch num_wheels:=4 model_type:=model_free
If everything works, the track will be loaded in the CarlaUE4 window, and another window showing the ego vehicle will pop up. Now, open another terminal on the host machine and run:
docker exec -it graic_con /bin/bash
The above command connects you to the running container. Inside the container, run the baseline controller:
cd graic-workspace/
source devel/setup.bash
cd src/race/src/
python3 baseline.py
Content type
Image
Digest
Size
5.3 GB
Last updated
over 5 years ago
docker pull pricejiang/graic