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Use virtualgl egl backend to run simulation without X server. #747

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Use virtualgl egl backend to run simulation without X server. #747

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11 changes: 11 additions & 0 deletions subt/docker/cloudsim/Dockerfile
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Original file line number Diff line number Diff line change
@@ -0,0 +1,11 @@
FROM osrf/subt-virtual-testbed:cloudsim_sim_latest

RUN cd /tmp && \
curl -sSO https://s3.amazonaws.com/virtualgl-pr/dev/linux/virtualgl_2.6.80_amd64.deb && \
sudo apt-get install ./virtualgl_*

#ENTRYPOINT ["/usr/bin/env"]

COPY subt/docker/cloudsim/run_wrapped.bash .

ENTRYPOINT ["./run_wrapped.bash"]
5 changes: 5 additions & 0 deletions subt/docker/cloudsim/run_wrapped.bash
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@@ -0,0 +1,5 @@
#!/bin/bash

echo "running wrapped"

xvfb-run -a -s '-screen 0 1x1x24' vglrun -d /dev/dri/card1 ./run_sim.bash $@
14 changes: 7 additions & 7 deletions subt/tools/run.py
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Expand Up @@ -113,9 +113,9 @@ def _create_docker(client, name, image, command, mounts=[], environment={}):
privileged = True,
#network_mode = "host",
environment = {
"DISPLAY": os.environ["DISPLAY"],
"QT_X11_NO_MITSHM": 1,
"XAUTHORITY": str(XAUTH),
#"DISPLAY": os.environ["DISPLAY"],
#"QT_X11_NO_MITSHM": 1,
#"XAUTHORITY": str(XAUTH),
},
#stdout = True,
#stderr = True,
Expand All @@ -126,10 +126,10 @@ def _create_docker(client, name, image, command, mounts=[], environment={}):
#entrypoint="/bin/bash",
#command = "/opt/ros/melodic/bin/rviz",
mounts = [
docker.types.Mount(str(XAUTH), str(XAUTH), "bind"),
docker.types.Mount("/tmp/.X11-unix/", "/tmp/.X11-unix/", "bind"),
#docker.types.Mount(str(XAUTH), str(XAUTH), "bind"),
#docker.types.Mount("/tmp/.X11-unix/", "/tmp/.X11-unix/", "bind"),
docker.types.Mount("/etc/localtime", "/etc/localtime", "bind", read_only=True),
docker.types.Mount("/dev/input/", "/dev/input/", "bind"),
#docker.types.Mount("/dev/input/", "/dev/input/", "bind"),
],
)
opts["mounts"] += mounts
Expand Down Expand Up @@ -170,7 +170,7 @@ def _run_sim(client, circuit, logdir, world, robots):
f"robotName{n}:={name}",
f"robotConfig{n}:={kind}"
]
sim = _create_docker(client, "sim", "osrf/subt-virtual-testbed:cloudsim_sim_latest", command, mounts, environment)
sim = _create_docker(client, "sim", "cloudsim:latest", command, mounts, environment)
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@m3d m3d Dec 18, 2020 •
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I wonder how not to forget to rebuild local cloudsim when external is upgraded?

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The solution is the same as we are using for our base image. We can start using specific versions instead of "latest".

print(f" connecting to simnet as 172.28.1.1")
simnet.connect(sim, ipv4_address="172.28.1.1")
sim.start()
Expand Down