EricX-Zhao
108 lines
3.0 KiB
Markdown
108 lines
3.0 KiB
Markdown
## Build Image
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ROS Jazzy + GZ Harmonic
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```
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docker buildx build -f gz_harmonic_sim_dev.dockerfile -t sim_dev:gz_harmonic .
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```
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## NOTICE
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When you build code in container with error:
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> fatal: detected dubious ownership in repository at '/code/PX4-Autopilot'
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> To add an exception for this directory, call:
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> git config --global --add safe.directory
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you should run this command in container:
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```
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git config --global --add safe.directory '*'
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```
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## Ubuntu With GUI&GPU Support
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1. Install nvidia-container-toolkit
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```
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curl -fsSL https://nvidia.github.io/libnvidia-container/gpgkey | sudo gpg --dearmor -o /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg \
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&& curl -s -L https://nvidia.github.io/libnvidia-container/stable/deb/nvidia-container-toolkit.list | \
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sed 's#deb https://#deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://#g' | \
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sudo tee /etc/apt/sources.list.d/nvidia-container-toolkit.list
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sudo apt install -y nvidia-container-toolkit
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sudo systemctl restart docker
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```
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2. Run container with docker compose
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```
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# in host bash
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# x11 permission
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xhost +local:root
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# 修改 docker-compose-ubuntu.yml 中${HOST_WS} 为你主机上的工作空间的目录
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docker compose -f docker-compose-ubuntu.yml up -d
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docker exec -it sim_dev_container bash
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# in container bash
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git config --global --add safe.directory '*'
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cd /simulation_ws
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sudo apt update
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rosdep install --from-paths src/autonomy --ignore-src -r -y
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/simulation_ws/src/autonomy/drivers/mavros/mavros/scripts/install_geographiclib_datasets.sh
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colcon build --symlink-install --packages-up-to mavlink mavros px4_bringup
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```
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## How to enter container again with bash
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```
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# get container id
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docker container ls -a
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# start container if not
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docker container start [container id]
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docker exec -it [container id] bash
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```
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## WSL2 With GUI&GPU Support
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> NOTICE: replace `~/code` on your host
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```
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docker run -it \
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-v ~/code:/code \
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-v /tmp/.X11-unix:/tmp/.X11-unix \
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-v /mnt/wslg:/mnt/wslg \
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-v /usr/lib/wsl:/usr/lib/wsl \
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-e DISPLAY=$DISPLAY \
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-e WAYLAND_DISPLAY=$WAYLAND_DISPLAY \
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-e XDG_RUNTIME_DIR=$XDG_RUNTIME_DIR \
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-e PULSE_SERVER=$PULSE_SERVER \
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--device=/dev/dxg \
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--device /dev/dri/card0 \
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--device /dev/dri/renderD128 \
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--gpus all sim_dev:gz_harmonic
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```
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docker-compose
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```
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docker compose -f docker-compose-wsl.yml up -d
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docker exec -it sim_dev_container bash
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cd /simulation_ws
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sudo apt update
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rosdep install --from-paths src/autonomy --ignore-src -r -y
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/simulation_ws/src/autonomy/drivers/mavros/mavros/scripts/install_geographiclib_datasets.sh
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colcon build --symlink-install --packages-up-to mavlink mavros px4_bringup
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```
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## Simulation
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### build simulation worksapce
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```bash
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MAKEFLAGS="-j4" colcon build --symlink-install \
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--packages-up-to \
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mavlink mavros mavros_extras px4_bringup vins_estimator usb_cam \
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--cmake-args \
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-DCMAKE_BUILD_TYPE=RelWithDebInfo \
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-DCMAKE_CXX_STANDARD=17 \
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-DCMAKE_EXPORT_COMPILE_COMMANDS=ON
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```
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