ukaea/glovebox-simulator repository overview

⁠Glovebox Simulator Docker Container

This project contians a containerised and web-interface verison of: https://github.com/ukaea/Glovebox-Simulator⁠

Dockerfile here: https://github.com/ukaea/Glovebox-Simulator-Docker⁠

⁠Getting started

The fastest way to get started is using Docker. If you haven't done so already head over to the Docker website⁠ and follow the instructions over there.

Once installed you can simply fire up the pre-built Docker container (it will be downloaded automatically for you):

docker run -it --name sgs -p 8080:8080 -p 8888:8888  ukaea/glovebox-simulator:latest

Then connect your local browser to localhost:8080⁠ to see the simulation and localhost:8888⁠ to get access to an ipython notebook which you can tinker with. The password for the ipython notebook is rain.

⁠Restarting the container

The next time you want to restart this container you just have to run:

docker start sgs

And you will be able to connect to localhost:8080⁠ and localhost:8888⁠ again.

If on startup you get the following error:

[Err] [RenderEngine.cc:734] Can't open display: :1.0

The camera topics will not be published. This error is caused by an erratic closure of the X server processes. In order to fix it run the following command on your host:

docker exec -it sgs bash

then run:

rm /tmp/.X1-lock

Finally restart the container.

⁠Notes

• Note, there is no need to use nvidia-docker as Gazebo server is CPU bound.

• We have added significant wait points in the start up scripts to attempt to ensure a smooth start-up. These plausbly can be reduced or removed. The total time for start up currently is about 2 mins.

• To interact with container with ROS directly run the container with local networking, ie:

docker run -it --name sgs --network=host ukaea/glovebox-simulator:latest

⁠Acknowledgements

The developers would like to sincerely thank Shadow robotics for which created Smart Grasping Sandbox (https://github.com/shadow-robot/smart_grasping_sandbox⁠), which acted as the direct inspiration for this container.