EricX-Zhao
67 lines
1.4 KiB
Markdown
67 lines
1.4 KiB
Markdown
## Build Image
|
|
|
|
ROS Noetic + Gazebo Classic
|
|
|
|
```
|
|
docker buildx build -f gazebo_classic_sim_dev.dockerfile -t sim_dev:gazebo_classic .
|
|
```
|
|
|
|
## NOTICE
|
|
When you build code in container with error:
|
|
```
|
|
fatal: detected dubious ownership in repository at '/code/PX4-Autopilot'
|
|
To add an exception for this directory, call:
|
|
git config --global --add safe.directory
|
|
```
|
|
|
|
you should run this command in container:
|
|
```
|
|
git config --global --add safe.directory '*'
|
|
```
|
|
|
|
|
|
## WSL2 With GUI&GPU Support
|
|
|
|
> NOTICE: replace `~/code` on your host
|
|
|
|
```
|
|
docker run -it \
|
|
-v ~/code:/code \
|
|
-v /tmp/.X11-unix:/tmp/.X11-unix \
|
|
-v /mnt/wslg:/mnt/wslg \
|
|
-v /usr/lib/wsl:/usr/lib/wsl \
|
|
-e DISPLAY=$DISPLAY \
|
|
-e WAYLAND_DISPLAY=$WAYLAND_DISPLAY \
|
|
-e XDG_RUNTIME_DIR=$XDG_RUNTIME_DIR \
|
|
-e PULSE_SERVER=$PULSE_SERVER \
|
|
--device=/dev/dxg \
|
|
--device /dev/dri/card0 \
|
|
--device /dev/dri/renderD128 \
|
|
--gpus all sim_dev:gazebo_classic
|
|
```
|
|
|
|
## Ubuntu With GUI&GPU Support
|
|
|
|
> NOTICE: replace `~/code` on your host
|
|
|
|
```
|
|
docker run -it \
|
|
-v ~/code:/code \
|
|
-v /tmp/.X11-unix:/tmp/.X11-unix \
|
|
-e DISPLAY=$DISPLAY \
|
|
--device=/dev/dxg \
|
|
--device /dev/dri/card0 \
|
|
--device /dev/dri/renderD128 \
|
|
--gpus all sim_dev:gazebo_classic
|
|
```
|
|
|
|
## How to enter container again with bash
|
|
|
|
```
|
|
docker container ls -a
|
|
|
|
# start container if not
|
|
docker container start [container id]
|
|
|
|
docker exec -it [container id] bash
|
|
``` |