MUR Docker

Dockerfile repo for MUR's dev env docker image

Features

Base image: nvidia/cudagl:10.0-devel-ubuntu18.04

• CUDA 10.0
• OpenGL (glvnd 1.2)
• cuDNN 7.6.5
• TensorRT 7.0
• ROS Melodic
• Gazebo 9.15.0
• CMake 3.18
• OpenCV 4.1.1 (With CUDA/cuDNN)
• Pylon 6.1.1
• tkDNN v0.5

Build instructions

Retrive the binaries for TensorRT(.deb) and CMake 3.18 (.sh) and place it in Installers as such,

Installers/
├─ CMake/
│  ├─ cmake-3.18.2-Linux-x86_64.sh
│  └─ install_cmake.sh
├─ Nvidia/
│  ├─ nv-tensorrt-repo-ubuntu1804-cuda10.0-trt7.0.0.11-ga-20191216_1-1_amd64.deb`
│  ├─ libcudnn7_7.6.5.32-1+cuda10.0_amd64.deb
│  └─ libcudnn7-dev_7.6.5.32-1+cuda10.0_amd64.deb
├─ OpenCV/
│  └─ opencv_build.sh
├─ Pylon/
│  └─ pylon_6.1.1.19861-deb0_amd64.deb
├─ tkDNN/
│  └─ install_tkDNN.sh
└─ readme.md

Run sudo make to build

Usage

As the docker image is based off of Nvidia's CUDA/cuDNN images, an Nvidia GPU is required as well as the latest GPU driver and the Nvidia docker toolkit. First allow X clients from any hosts to connect with,

xhost +

^{This allows any one to connect your host machine's X11 server, technically a security fault}

Then launch the docker image with sudo ./run.sh

docker run --gpus all \
    -v /tmp/.X11-unix/:/tmp/.X11-unix/:ro \
    -e DISPLAY=$(echo $DISPLAY) \
    --device=/dev/bus \
    -it \
    murauto/mur_dev_stack

Meaning of the flags

• --gpus all enable pass through of all physical gpus
• -v /tmp/.X11-unix/:/tmp/.X11-unix/:ro mount host's /tmp/.X11-unix/ to the image's /tmp/.X11-unix/ with read-only (:ro)
• -e DISPLAY=$(echo $DISPLAY) export the DISPLAY env variable in the image to point to the host's display
• --device=/dev/bus allows the container access to /dev/bus (USB/Serial device access)
• -it Enable interactive terminal

TODO

• Find a way to share compiled image (Docker HUB?)
  • Using Docker hub
• Use XAuth alternative to xhost
• Put OpenCV in (Test if opencv is installed properly)
  • Clean up bandaids
• Split up Installers folder
• VSCode integration tutorial
• Exposing Ports and forwarding ros packets to remote machines
• Missing Utilities
  • ifconfig
  • ping
  • vim
• Install gtk and gtk3 module for lidar_dev sudo apt install libcanberra-gtk-module libcanberra-gtk3-module