🥅 TraveSim Docker 🐋

Docker configurations for TraveSim and TraveSim Adapters

🎈 Intro

This is a Docker image build around TraveSim and TraveSim adapters

📦 Dependencies

The best way to run this image is with rocker, ROS custom docker runner.

If you have ROS repos configured in your computer (see here how to do that), you may install rocker with the command

sudo apt-get install python3-rocker

If you don't have the ROS repos or you don't use a Debian-based distro, you may also install rocker with pip

python -m pip install rocker

🏁 Run

🤖 rocker

For Intel integrated graphics cards:

rocker --devices /dev/dri/card0 --x11 --network host ghcr.io/thunderatz/travesim_pkg:stable

For NVidia GPUs:

rocker --nvidia --x11 --network host ghcr.io/thunderatz/travesim_pkg:stable

🐋 docker

Running on linux:

docker run -it --rm \
    --env="DISPLAY" \
    --env="TERM" \
    --env="QT_X11_NO_MITSHM=1" \
    --env="XAUTHORITY=/tmp/.docker.xauth" \
    --volume /tmp/.docker.xauth:/tmp/.docker.xauth \
    --volume /tmp/.X11-unix:/tmp/.X11-unix \
    --network host \
    ghcr.io/thunderatz/travesim_pkg:stable

🔧 Options

The container accepts two enviroment variables as running options. To pass enviroment variables to docker or rocker use the option --env NAME[=VALUE] [NAME[=VALUE] ...] or -e NAME[=VALUE] [NAME[=VALUE] ...].

🚸 Graphical User Interface

There are two avaible graphical interfaces, TraveSim's gazebo interface and TraveSim Adapters configurers interface. The configurers' interface is always shown, but gazebo in TraveSim can run headless. To do so use the GUI option, values can be 0 or 1, default is 1, so the default is to show both GUIs.

For example using rocker:

rocker --devices /dev/dri/card0 --env GUI=0 --x11 --network host ghcr.io/thunderatz/travesim_pkg:stable

For example using docker on linux:

docker run -it --rm \
    --env="DISPLAY" \
    --env="TERM" \
    --env="QT_X11_NO_MITSHM=1" \
    --env="XAUTHORITY=/tmp/.docker.xauth" \
    --env="GUI=0" \
    --volume /tmp/.docker.xauth:/tmp/.docker.xauth \
    --volume /tmp/.X11-unix:/tmp/.X11-unix \
    --network host \
    ghcr.io/thunderatz/travesim_pkg:stable

🔢 Robots per team

Travesim support games with three or five robots per team. To choose the configuration use the ROBOTS_PER_TEAM option, passing the number of robots per team, values can be 3 or 5, default is 3.

For example using rocker:

rocker --devices /dev/dri/card0 --env ROBOTS_PER_TEAM=5 --x11 --network host ghcr.io/thunderatz/travesim_pkg:stable

For example using docker on linux:

docker run -it --rm \
    --env="DISPLAY" \
    --env="TERM" \
    --env="QT_X11_NO_MITSHM=1" \
    --env="XAUTHORITY=/tmp/.docker.xauth" \
    --env="ROBOTS_PER_TEAM=5" \
    --volume /tmp/.docker.xauth:/tmp/.docker.xauth \
    --volume /tmp/.X11-unix:/tmp/.X11-unix \
    --network host \
    ghcr.io/thunderatz/travesim_pkg:stable