Set gazebo classic dev environment using docker and vscode

Simulation / Gazebo Classic

Docker with nvidia support

Docker runtime on host

• install nvidia-container-toolkit on host
• Config docker run time

docker info | grep -i runtime
#
 Runtimes: runc io.containerd.runc.v2
 Default Runtime: runc

sudo nvidia-ctk runtime configure --runtime=docker
sudo systemctl restart docker

docker info | grep -i runtime
 Runtimes: nvidia runc io.containerd.runc.v2

cat /etc/docker/daemon.json
#
{
    "runtimes": {
        "nvidia": {
            "args": [],
            "path": "nvidia-container-runtime"
        }
    }
}

---

Dev environment using docker

├── CMakeLists.txt
├── .devcontainer
│   ├── devcontainer.json
│   └── Dockerfile
├── docker-compose.yaml
├── .gitignore
├── src
│   ├── CMakeLists.txt
│   └── listener.cpp
└── .vscode
    ├── c_cpp_properties.json
    └── settings.json

Docker

FROM ubuntu:22.04

ENV DEBIAN_FRONTEND=noninteractive

# Install language
RUN apt-get update && apt-get install -y --no-install-recommends \
  locales \
  && locale-gen en_US.UTF-8 \
  && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 \
  && rm -rf /var/lib/apt/lists/*
ENV LANG=en_US.UTF-8

# Install timezone
RUN ln -fs /usr/share/zoneinfo/UTC /etc/localtime \
  && export DEBIAN_FRONTEND=noninteractive \
  && apt-get update \
  && apt-get install -y --no-install-recommends tzdata \
  && dpkg-reconfigure --frontend noninteractive tzdata \
  && rm -rf /var/lib/apt/lists/*

RUN apt-get update && apt-get install -y --no-install-recommends \
    bash-completion \
    build-essential \
    cmake \
    gdb \
    git \
    tmux \
    tmuxp \
    pkg-config \
  && rm -rf /var/lib/apt/lists/*

COPY .devcontainer/.tmux.conf /etc/tmux.conf
RUN rosdep init || echo "rosdep already initialized"

ARG USERNAME=user
ARG USER_UID=1000
ARG USER_GID=$USER_UID

# Create a non-root user
RUN groupadd --gid $USER_GID $USERNAME \
  && useradd -s /bin/bash --uid $USER_UID --gid $USER_GID -m $USERNAME \
  # Add sudo support for the non-root user
  && apt-get update \
  && apt-get install -y sudo \
  && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME\
  && chmod 0440 /etc/sudoers.d/$USERNAME \
  && rm -rf /var/lib/apt/lists/*

RUN apt-get update && apt-get install -y --no-install-recommends \
    libopencv-dev \
    libzmq3-dev \
    libczmq-dev \
    libmsgpack-dev \
    wget \
    curl \
    gnupg2 \
    gnupg \
    ca-certificates \
    gnupg \
    lsb-release \
    curl \
  && rm -rf /var/lib/apt/lists/*

# Add the OSRF GPG key to a new keyring directory
RUN mkdir -p /etc/apt/keyrings && \
    wget https://packages.osrfoundation.org/gazebo.gpg -O /etc/apt/keyrings/osrf-archive-keyring.gpg

# Add the Gazebo repository line, referencing the new keyring file
RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null


# Install gazebo
RUN apt-get update && apt-get install -q -y \
    gazebo \
    libgazebo-dev \
  && rm -rf /var/lib/apt/lists/*


RUN apt-get update && apt-get install -y --no-install-recommends \
    mesa-utils \
    nvtop \
  && rm -rf /var/lib/apt/lists/*


  ENV DEBIAN_FRONTEND=

devcontainer.json

{
    "name": "gz11",
    "dockerComposeFile": "../docker-compose.yaml",
    "service": "gz",
    "shutdownAction": "stopCompose",
    "workspaceFolder": "/workspace",
    "customizations": {
      "vscode": {
        "extensions": [
            "ms-python.python",
            "ms-vscode.cpptools",
            "twxs.cmake",
            "redhat.vscode-xml",
            "redhat.vscode-yaml",
            "albert.tabout",
            "actboy168.tasks",
            "streetsidesoftware.code-spell-checker",
            "mhutchie.git-graph",
            "dlech.chmod",
            "smilerobotics.urdf"
        ],
        "settings": {}
      }
    }
  }

docker-compose.yaml

services:
  gz:
    build: 
      context: .
      dockerfile: .devcontainer/Dockerfile
    user: "user"
    volumes:
      - .:/workspace:cached
      - /tmp/.X11-unix:/tmp/.X11-unix:rw 
      - /dev/dri:/dev/dri            # keep for OpenGL context
    deploy:
      resources:
        reservations:
          devices:
            - driver: nvidia        # explicitly use NVIDIA runtime
              count: all
              capabilities: [gpu]
    hostname: gz
    extra_hosts:
      - "gz:127.0.0.1"
    network_mode: host
    stdin_open: true
    tty: true
    environment:
      - DISPLAY=${DISPLAY}
      - QT_X11_NO_MITSHM=1
      - NVIDIA_VISIBLE_DEVICES=all
      - NVIDIA_DRIVER_CAPABILITIES=all
      - __NV_PRIME_RENDER_OFFLOAD=1
      - __GLX_VENDOR_LIBRARY_NAME=nvidia
    runtime: nvidia

check OpenGL

glxinfo | grep "OpenGL vendor"
#
OpenGL vendor string: NVIDIA Corporation

Run

gazebo --verbose

fps

The fps on my machine is about 62

pmap

The pmap command is a Linux utility that reports the memory map of a process. The memory map provides a detailed look at how a process uses memory, including all of the components it uses, such as libraries, executable code, and data

pmap -x $(pgrep gzclient) | grep "nvidia"

nvidia-smi

The process gzclient and gzserver shown on the host but not from the docker image shell why?

---

TODO: simple app and config the compiler and cmake

---

Reference

• Download all source code