Page last modified: Jul 29 2021.
This guide explains how to set up a Docker-based development environment for building and developing Dave repository and related software.
Step 1: Install Dependencies
Follow these steps to install required utilities on your host system.
Install Docker
- Follow the instruction in System Requirements - docker
Install Rocker
Check pip version with, pip --version, if it’s based on python version 2, then install pip3 with sudo apt install python3-pip
- Install Rocker (the Open Robotics Docker CLI)
# Install rocker pip3 install rocker # Double check rocker installation to be the latest version pip3 install --force-reinstall git+https://github.com/osrf/rocker.git@main # Add path of pip3 installation to PATH echo "export PATH=\"`python3 -m site --user-base`/bin:\$PATH\"" >> ~/.bashrc # Load new PATH source ~/.bashrc # Check rocker version rocker --verion
Step 2: Build and run
Once you’ve installed the dependencies, you can build your Docker development environment with the following commands:
# Start from wherever you want (Recommend your home directory)
# Clone dockwater package which contains configurations to run Dave in Docker environment with Rocker CLI
git clone https://github.com/Field-Robotics-Lab/dockwater.git
cd dockwater
# Build the Docker image for the ROS Noetic environment (this may take a while, upto 20 or more minutes)
./build.bash noetic
# Run the Docker image for the ROS Noetic environment (this may take a while, upto 5 minutes)
./run.bash dockwater:noetic
# When done, you are now in a Docker container with the ROS Noetic environment running Ubuntu 22.04 Focal LTS. Check with,
lsb_release -a
# You can now run ROS commands, e.g.
rosversion -d
# You can also run Gazebo, e.g.
gazebo --version
If the above is successful, you should end up with a command prompt opened into the Docker container. Your user information will be the same and your home directory will be mounted and accessible within the container.
OPTIONAL: GPU Multibeam sonar
- DO NOT INCLUDE THIS if you are not using multibeam sonar.
- It require CUDA Library and NVIDIA driver along with the NVIDIA graphics card that supports CUDA feature.
For instructions and plugin details : Multibeam Forward-Looking Sonar
# Clone docker package with CUDA support
# if you have already cloned dockwater package, skip this step
git clone -b cuda-dev https://github.com/Field-Robotics-Lab/dockwater.git
cd dockwater
# Change to cuda-dev branch which contains configurations to run Dave in Docker environment with CUDA support
git checkout cuda-dev
# Build the Docker image for the ROS Noetic environment (this may take a while, upto 30 or more minutes. It takes long to download and install CUDA libraries)
./build.bash noetic
# Run the Docker image for the ROS Noetic environment (this may take a while, upto 5 minutes)
./run.bash -c dockwater:noetic
# When done, you are now in a Docker container with CUDA support
Notes
- The
build.bashandrun.bashscripts may take a few minutes the first time they run. - Code for the Docker development images is hosted in the dockwater repository. See the repository wiki for more information about this project and supported use cases.