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Installation with Docker

  • Run the script install_docker.sh. This script is important because it installs the docker client on your machine and adds to your user the privileges to run the docker images, and create new folder.
$sudo apt install curl
$curl -o install_docker.sh https://raw.githubusercontent.com/idra-lab/locosim/refs/heads/master/docker/install_docker.sh
$sudo chmod +x install_docker.sh
$./install_docker.sh
  • If everything went smooth you should read: To start docker, reboot the system! You can now restart the PC so that all changes made can be applied.
  • If you look into your host Ubuntu home directory, you will see that the trento_lab_home directory has been created with /ros_ws/src subfolders.
  • now you can clone the loco_nav code inside the trento_lab_home/ros_ws/src folder
$ cd ~/trento_lab_home/ros_ws/src
$ git clone https://github.com/idra-lab/locosim.git --recursive

NOTE: when you clone the code, be sure to have a stable and fast connection. Before continuing, be sure you properly checked out all the submodules without any error.

  • Now you have two options:

    A) Download the docker image from here:

    docker pull mfocchi/trento_lab_framework:locosim

    B) compile the docker image yourself:

    cd ~/trento_lab_home/ros_ws/src/locosim/docker
docker build -t mfocchi/trento_lab_framework:locosim -f Dockerfile .

  • Now, you need to configure the bash environment of your Ubuntu machine as follows. Open the bashrc file from your home folder:

$ gedit ~/.bashrc
  • and add the following lines at the bottom of the file:
alias lab_locosim='xhost +local:root; \
docker rm -f docker_container >/dev/null 2>&1 || true; \
docker run --name docker_container --gpus all \
--workdir="/root" \
--volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
--device=/dev/dri:/dev/dri \
--network=host --hostname=docker -it \
--env="DISPLAY=$DISPLAY" \
--env="QT_X11_NO_MITSHM=1" \
--privileged --shm-size 2g --rm \
--volume $HOME/trento_lab_home:/root \
mfocchi/trento_lab_framework:locosim'
alias dock-other='docker exec -it docker_container /bin/bash'
  • Load the .bashrc script (next time you will open a terminal this will be automatically loaded).
$ source ~/.bashrc

NOTE! If you do not have an Nvidia card in your computer, you should skip the parts about the installation of the drivers, and you can still run the docker without the --gpus all in the lab_locosim alias.

  • Open a terminal and run the "lab_locosim" alias:
$ lab_locosim
  • You should see your terminal change from user@hostname to user@docker.
  • the lab_locosim script will mount the folder ~/trento_lab_home on your host computer. Inside of all of the docker images this folder is mapped to $HOME.This means that any files you place in your docker $HOME folder will survive the stop/starting of a new docker container. All other files and installed programs will disappear on the next run.
  • The alias lab_locosim needs to be called only ONCE and opens the image. To link other terminals to the same image you should run dock-other, this second command will "attach" to the image opened previously by calling the lab_locosim alias. You can call lab_locosim only once and dock-other as many times you need to open multiple terminals.

Compiling the code

  • Now you can compile the ROS workspace in the $HOME directory inside docker:
$ cd  /root/ros_ws/
$ catkin_make install
  • Only once, after the first compilation do:
$ source /root/ros_ws/install/setup.bash

NOTE: when you run the code, if an error pops-up that tells you a recently compiled package cannot be found you need to run:

$ rospack profile

This function crawls through the packages in ROS_ROOT and ROS_PACKAGE_PATH, read and parse the package.xml for each package, and assemble a complete dependency tree for all packages.

Now you are ready to run the code as explained here.

When you have finished exit from the container typing:

$ exit

Committing the image (optional)

To install new packages open a terminal and call the apt install without sudo. To store the changes in the local image, get the ASH (a number) of the active container with:

$ docker ps
  1. Commit the docker image (next time you will open an new container it will retain the changes done to the image without loosing them):
$ docker commit ASH mfocchi/trento_lab_framework:locosim

Docker Issues (optional)

Check this section only if you had any issues in running the docker!

  • When launching any graphical interface inside docker (e.g. pycharm or gedit) you get this error:
No protocol specified
Unable to init server: Could not connect: Connection refused

(gedit:97): Gtk-WARNING **: 08:21:29.767: cannot open display: :0.0

It means that docker is not copying properly the value of you DISPLAY environment variable, you could try to solve it in this way, in a terminal outside docker launch:

echo $DISPLAY

and you will obtain a value (e.g. :0) if you run the same command in a docker terminal the value will be different, then in the .bashrc inside the docker add the following line:

export DISPLAY=value

  • If you still have issues because of the x11 library maybe you are running on wayland, be sure you have installed the qt5 library:

    apt install -y qt5-default

    and add this to your .bashrc

    export XDG_SESSION_TYPE=x11