Installation

• install docker-engine (DO NOT INSTALL DOCKER DESKTOP), do post-installation steps and (optional) install nvidia-docker for GPU support

• For ubuntu (and Mint, but you have) users:

  • if you are a mint user, change VERSION_CODENAME to UBUNTU_CODENAME

  sudo apt-get update
  sudo apt-get install ca-certificates curl gnupg
  sudo install -m 0755 -d /etc/apt/keyrings
  curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo gpg --dearmor -o /etc/apt/keyrings/docker.gpg
  sudo chmod a+r /etc/apt/keyrings/docker.gpg
  
  echo \
    "deb [arch="$(dpkg --print-architecture)" signed-by=/etc/apt/keyrings/docker.gpg] https://download.docker.com/linux/ubuntu \
    "$(. /etc/os-release && echo "$VERSION_CODENAME")" stable" | \
    sudo tee /etc/apt/sources.list.d/docker.list > /dev/null
  sudo apt-get update
  sudo apt-get install docker-ce docker-ce-cli containerd.io docker-buildx-plugin docker-compose-plugin
  

  • and post-installation to use docker without sudo:

  sudo groupadd docker
  sudo usermod -aG docker $USER
  

  • and restart your computer

• clone this repository

  cd SOME_PATH
  git clone https://github.com/rustlluk/pyCub.git
  

• (optionally) rename it to be called the same as in docker

  mv PATH_TO_THE_REPOSITORY/pycub SOME_PATH/pycub_ws
  

• build the docker (see Parameters for more parameters)

  cd SOME_PATH/pycub_ws/Docker
  ./deploy.py -b -p PATH_TO_THE_REPOSITORY/pycub_ws -c pycub
  

• after you built the container, you can run it next time as

  ./deploy.py -e -c pycub
  

• if you want to open new terminal in existing container, run

  ./deploy.py -c pycub -t
  

Docker + PyCharm

You have two option:

1. Either run pycharm from docker

2. Open your pycharm on your host machine:

   • add ssh interpreter

     • user docker

     • ip can be localhost or ip where you run the docker

     • port 2222

   • uncheck automatic upload to remote folder

   • change remote path to /home/docker/pycub_ws

Common steps:

• mark all folder icub_pybullet as Source Root

• for X11 forwarding:

  • Click on configurations drop menu -> Edit Configurations -> Edit configuration templates -> Python -> Edit environment variables -> add DISPLAY with the same value as in docker and uncheck ‘Include system environment variables’. Every new configuration will have that settings from now

    • if you already have configuration created before doing the above -> delete it and create again, or change it manually

Deploy Parameters

• cd to folder with Dockerfile

• ./deploy.py

  • -b or --build when building

    • default: False

  • -nv or --nvidia when you want to use your Nvidia card

    • you have to use it when creating a new container

    • default: False

  • -e if you just want to run existing docker without building

    • default: False

  • -p or --path with path to current folder

    • default: “”

  • c or --container with desired name of the new, created container

    • default: my_new_docker

  • t or --terminal to run new terminal in running docker session

    • default: False

  • -pv or --python-version to specify addition python version to install

    • default: 3.11

  • -pcv or --pycharm-version to specify version of pycharm to use

    • default: 2023.2.3

  • -bi or --base-image to specify base image that will be used

    • default: nvidia/cuda:11.0.3-devel-ubuntu20.04

    • other can be found at hub.docker.com

  Do this on computer where you will run the code. If you have a server you have to run it on the server over SSH to make things work properly.

FAQ

• applications do not run on your screen (or you have some strange screen related errors)

  • in another terminal run xhost local:docker

    • if it does not work, try xhost +

      • if this does not work, nothing can be done

• you get error of not being in sudo group when running image

  • check output of id -u command. If the output is not 1000 you have to build the image by yourself and can not pull it

    • this happens when your account is not the first one created on your computer

• ``sudo apt install something`` does not work

  • you need to run sudo apt update first after you run the container for the first time

    • apt things are removed in Dockerfile, so it does not take unnecessary space in the image