{"id":1274,"date":"2024-08-17T23:44:12","date_gmt":"2024-08-17T23:44:12","guid":{"rendered":"https:\/\/sparkonelabs.com\/home\/?p=1274"},"modified":"2024-09-02T05:29:52","modified_gmt":"2024-09-02T05:29:52","slug":"gazebo-robot-simulator-in-a-docker-container","status":"publish","type":"post","link":"https:\/\/sparkonelabs.com\/home\/2024\/08\/17\/gazebo-robot-simulator-in-a-docker-container\/","title":{"rendered":"Gazebo Robot Simulator in a Docker Container"},"content":{"rendered":"\n

Well this is one of my first attempts at working with a docker container in order to isolate various AUR packages and perform patches or version control on dependencies, without interfering with package dependencies on my primary system. Up until this point, I have worked with various virutal python environments when experimenting with AI tools obtained from Github. Docker containers offer virtual environment advantages for software which is not necessarily utilizing python based applications. Therefore, it is a nice technology to familiarize myself with for future experiments.<\/p>\n\n\n\n

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#!\/bin\/bash<\/span><\/span>\necho<\/span> <\/span>"<\/span>Script for creating a docker container with X server forwarding enabled<\/span>"<\/span><\/span>\ndocker<\/span> <\/span>run<\/span> <\/span>-<\/span>it<\/span> \\<\/span><\/span>\n  <\/span>--<\/span>gpus<\/span> <\/span>all<\/span> \\<\/span><\/span>\n  <\/span>-<\/span>e<\/span> <\/span>DISPLAY<\/span>=<\/span>$DISPLAY<\/span> \\<\/span><\/span>\n  <\/span>-<\/span>v<\/span> <\/span>\/<\/span>tmp<\/span>\/<\/span>.<\/span>X11<\/span>-<\/span>unix<\/span>:<\/span>\/<\/span>tmp<\/span>\/<\/span>.<\/span>X11<\/span>-<\/span>unix<\/span> \\<\/span><\/span>\n  <\/span>--<\/span>network<\/span> <\/span>host<\/span> \\<\/span><\/span>\n  <\/span>--<\/span>user<\/span> <\/span>root<\/span> \\<\/span><\/span>\n  <\/span>--<\/span>hostname<\/span> <\/span>sparkdockergazebo<\/span> \\<\/span><\/span>\n  <\/span>--<\/span>name<\/span> <\/span>arch_for_gazebo<\/span> \\<\/span><\/span>\n  archlinux<\/span>:<\/span>latest<\/span> \\<\/span><\/span>\n  <\/span>\/<\/span>bin<\/span>\/<\/span>bash<\/span><\/span>\n<\/span><\/code><\/pre><\/div>\n\n\n\n
The above is a bash shell script for creating a docker container (persistent) which should allow X server forwarding.<\/p>\n\n\n\n
Update:<\/p>\n\n\n\n
Gazebo turned out to be not exactly what I was looking for in terms of learning how to use FANUC robotics for industrial work cell operation. Instead, I settled on RoboDK, as it was somewhat easier to use and had the FANUC automotive arm robots already available in the robotics asset library. Additionally, the interface seemed nicer and they offered a 30-day free trial. <\/p>\n\n\n\n
The software was set up in an ubuntu image inside a docker container, which was interesting to set up. Here are some of the bash shell scripts which were created to facilitate this:<\/p>\n\n\n\n
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#!\/bin\/bash<\/span><\/span>\necho<\/span> <\/span>"<\/span>Script for creating a docker container with X server forwarding enabled, admin user setup, hostname fix, volume mount, and root password change<\/span>"<\/span><\/span>\necho<\/span> <\/span>"<\/span>This script uses a Dockerfile instead of passing an initial long string argument to the starting bash command, which should allow it to be more reusable<\/span>"<\/span><\/span>\n<\/span>\n# <\/span>Check<\/span> <\/span>if<\/span> <\/span>the<\/span> <\/span>image<\/span> <\/span>already<\/span> <\/span>exists<\/span><\/span>\nif<\/span> [[ <\/span>"<\/span>$(docker images -q ubuntu_for_robodk 2> \/dev\/null)<\/span>"<\/span> <\/span>==<\/span> <\/span>""<\/span> ]]<\/span>;<\/span> <\/span>then<\/span><\/span>\n  <\/span>echo<\/span> <\/span>"<\/span>Image does not exist. Building now...<\/span>"<\/span><\/span>\n  # <\/span>Build<\/span> <\/span>the<\/span> <\/span>Docker<\/span> <\/span>image<\/span><\/span>\n  <\/span>docker<\/span> <\/span>build<\/span> <\/span>-<\/span>t<\/span> <\/span>ubuntu_for_robodk<\/span> <\/span>.<\/span><\/span>\nelse<\/span><\/span>\n  <\/span>echo<\/span> <\/span>"<\/span>Image already exists. Skipping build step.<\/span>"<\/span><\/span>\nfi<\/span><\/span>\n<\/span>\n# <\/span>Check<\/span> <\/span>if<\/span> <\/span>the<\/span> <\/span>container<\/span> <\/span>already<\/span> <\/span>exists<\/span><\/span>\nif<\/span> [[ <\/span>"<\/span>$(docker ps -aq -f name=ubuntu_for_robodk)<\/span>"<\/span> ]]<\/span>;<\/span> <\/span>then<\/span><\/span>\n  <\/span>echo<\/span> <\/span>"<\/span>Container already exists. Starting and attaching to it...<\/span>"<\/span><\/span>\n  <\/span>docker<\/span> <\/span>start<\/span> <\/span>-<\/span>i<\/span> <\/span>ubuntu_for_robodk<\/span><\/span>\nelse<\/span><\/span>\n  <\/span>echo<\/span> <\/span>"<\/span>Creating and starting new container...<\/span>"<\/span><\/span>\n  # <\/span>Create<\/span> <\/span>and<\/span> <\/span>start<\/span> <\/span>the<\/span> <\/span>container<\/span><\/span>\n  <\/span>docker<\/span> <\/span>run<\/span> <\/span>-<\/span>it<\/span> \\<\/span><\/span>\n    <\/span>--<\/span>gpus<\/span> <\/span>all<\/span> \\<\/span><\/span>\n    <\/span>-<\/span>e<\/span> <\/span>DISPLAY<\/span>=<\/span>$DISPLAY<\/span> \\<\/span><\/span>\n    <\/span>-<\/span>v<\/span> <\/span>\/<\/span>tmp<\/span>\/<\/span>.<\/span>X11<\/span>-<\/span>unix<\/span>:<\/span>\/<\/span>tmp<\/span>\/<\/span>.<\/span>X11<\/span>-<\/span>unix<\/span> \\<\/span><\/span>\n    <\/span>-<\/span>v<\/span> <\/span>\/<\/span>home<\/span>\/<\/span>sparkone<\/span>\/<\/span>Downloads<\/span>:<\/span>\/<\/span>mnt<\/span>\/<\/span>host<\/span> \\<\/span><\/span>\n    <\/span>--<\/span>network<\/span> <\/span>host<\/span> \\<\/span><\/span>\n    <\/span>--<\/span>hostname<\/span> <\/span>sparkdockerrobodk<\/span> \\<\/span><\/span>\n    <\/span>--<\/span>name<\/span> <\/span>ubuntu_for_robodk<\/span> \\<\/span><\/span>\n    <\/span>ubuntu_for_robodk<\/span><\/span>\nfi<\/span><\/span>\n[<\/span>sparkone<\/span>@<\/span>sparktwo<\/span> <\/span>Docker<\/span>]<\/span>$<\/span> <\/span>cat<\/span> <\/span>start_container_ubuntu_x11forward_0<\/span>.<\/span>sh<\/span> <\/span><\/span>\n#<\/span>!\/<\/span>bin<\/span>\/<\/span>bash<\/span><\/span>\n<\/span>\n# <\/span>Name<\/span> <\/span>of<\/span> <\/span>your<\/span> <\/span>Docker<\/span> <\/span>container<\/span><\/span>\nCONTAINER_NAME<\/span>=<\/span>"<\/span>ubuntu_for_robodk<\/span>"<\/span><\/span>\n<\/span>\n# <\/span>Check<\/span> <\/span>if<\/span> <\/span>the<\/span> <\/span>container<\/span> <\/span>exists<\/span><\/span>\nif<\/span> <\/span>!<\/span> <\/span>docker<\/span> <\/span>ps<\/span> <\/span>-<\/span>a<\/span> <\/span>--<\/span>format<\/span> <\/span>'<\/span>{{.Names}}<\/span>'<\/span> <\/span>|<\/span> <\/span>grep<\/span> <\/span>-<\/span>q<\/span> <\/span>"<\/span>^${CONTAINER_NAME}$<\/span>"<\/span>;<\/span> <\/span>then<\/span><\/span>\n    <\/span>echo<\/span> <\/span>"<\/span>Container ${CONTAINER_NAME} does not exist. Please create it first.<\/span>"<\/span><\/span>\n    <\/span>exit<\/span> <\/span>1<\/span><\/span>\nfi<\/span><\/span>\n<\/span>\n# <\/span>Check<\/span> <\/span>if<\/span> <\/span>the<\/span> <\/span>container<\/span> <\/span>is<\/span> <\/span>running<\/span><\/span>\nif<\/span> <\/span>!<\/span> <\/span>docker<\/span> <\/span>ps<\/span> <\/span>--<\/span>format<\/span> <\/span>'<\/span>{{.Names}}<\/span>'<\/span> <\/span>|<\/span> <\/span>grep<\/span> <\/span>-<\/span>q<\/span> <\/span>"<\/span>^${CONTAINER_NAME}$<\/span>"<\/span>;<\/span> <\/span>then<\/span><\/span>\n    <\/span>echo<\/span> <\/span>"<\/span>Container ${CONTAINER_NAME} is not running. Starting it now...<\/span>"<\/span><\/span>\n    <\/span>docker<\/span> <\/span>start<\/span> <\/span>$<\/span>{<\/span>CONTAINER_NAME<\/span>}<\/span><\/span>\nfi<\/span><\/span>\n<\/span>\n# <\/span>Attach<\/span> <\/span>to<\/span> <\/span>the<\/span> <\/span>container<\/span><\/span>\necho<\/span> <\/span>"<\/span>Attaching to container ${CONTAINER_NAME}...<\/span>"<\/span><\/span>\ndocker<\/span> <\/span>exec<\/span> <\/span>-<\/span>it<\/span> <\/span>$<\/span>{<\/span>CONTAINER_NAME<\/span>}<\/span> <\/span>\/<\/span>bin<\/span>\/<\/span>bash<\/span><\/span>\n<\/span>\necho<\/span> <\/span>"<\/span>Exited from container ${CONTAINER_NAME}<\/span>"<\/span><\/span>\n<\/span><\/code><\/pre><\/div>\n\n\n\n
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#!\/bin\/bash<\/span><\/span>\necho<\/span> <\/span>"<\/span>Script for creating a docker container with X server forwarding enabled, admin user setup, hostname fix, volume mount, and root password change<\/span>"<\/span><\/span>\necho<\/span> <\/span>"<\/span>This script uses a Dockerfile instead of passing an initial long string argument to the starting bash command, which should allow it to be more reusable<\/span>"<\/span><\/span>\n<\/span>\n# <\/span>Check<\/span> <\/span>if<\/span> <\/span>the<\/span> <\/span>image<\/span> <\/span>already<\/span> <\/span>exists<\/span><\/span>\nif<\/span> [[ <\/span>"<\/span>$(docker images -q ubuntu_for_robodk 2> \/dev\/null)<\/span>"<\/span> <\/span>==<\/span> <\/span>""<\/span> ]]<\/span>;<\/span> <\/span>then<\/span><\/span>\n  <\/span>echo<\/span> <\/span>"<\/span>Image does not exist. Building now...<\/span>"<\/span><\/span>\n  # <\/span>Build<\/span> <\/span>the<\/span> <\/span>Docker<\/span> <\/span>image<\/span><\/span>\n  <\/span>docker<\/span> <\/span>build<\/span> <\/span>-<\/span>t<\/span> <\/span>ubuntu_for_robodk<\/span> <\/span>.<\/span><\/span>\nelse<\/span><\/span>\n  <\/span>echo<\/span> <\/span>"<\/span>Image already exists. Skipping build step.<\/span>"<\/span><\/span>\nfi<\/span><\/span>\n<\/span>\n# <\/span>Check<\/span> <\/span>if<\/span> <\/span>the<\/span> <\/span>container<\/span> <\/span>already<\/span> <\/span>exists<\/span><\/span>\nif<\/span> [[ <\/span>"<\/span>$(docker ps -aq -f name=ubuntu_for_robodk)<\/span>"<\/span> ]]<\/span>;<\/span> <\/span>then<\/span><\/span>\n  <\/span>echo<\/span> <\/span>"<\/span>Container already exists. Starting and attaching to it...<\/span>"<\/span><\/span>\n  <\/span>docker<\/span> <\/span>start<\/span> <\/span>-<\/span>i<\/span> <\/span>ubuntu_for_robodk<\/span><\/span>\nelse<\/span><\/span>\n  <\/span>echo<\/span> <\/span>"<\/span>Creating and starting new container...<\/span>"<\/span><\/span>\n  # <\/span>Create<\/span> <\/span>and<\/span> <\/span>start<\/span> <\/span>the<\/span> <\/span>container<\/span><\/span>\n  <\/span>docker<\/span> <\/span>run<\/span> <\/span>-<\/span>it<\/span> \\<\/span><\/span>\n    <\/span>--<\/span>gpus<\/span> <\/span>all<\/span> \\<\/span><\/span>\n    <\/span>-<\/span>e<\/span> <\/span>DISPLAY<\/span>=<\/span>$DISPLAY<\/span> \\<\/span><\/span>\n    <\/span>-<\/span>v<\/span> <\/span>\/<\/span>tmp<\/span>\/<\/span>.<\/span>X11<\/span>-<\/span>unix<\/span>:<\/span>\/<\/span>tmp<\/span>\/<\/span>.<\/span>X11<\/span>-<\/span>unix<\/span> \\<\/span><\/span>\n    <\/span>-<\/span>v<\/span> <\/span>\/<\/span>home<\/span>\/<\/span>sparkone<\/span>\/<\/span>Downloads<\/span>:<\/span>\/<\/span>mnt<\/span>\/<\/span>host<\/span> \\<\/span><\/span>\n    <\/span>--<\/span>network<\/span> <\/span>host<\/span> \\<\/span><\/span>\n    <\/span>--<\/span>hostname<\/span> <\/span>sparkdockerrobodk<\/span> \\<\/span><\/span>\n    <\/span>--<\/span>name<\/span> <\/span>ubuntu_for_robodk<\/span> \\<\/span><\/span>\n    <\/span>ubuntu_for_robodk<\/span><\/span>\nfi<\/span><\/span><\/code><\/pre><\/div>\n","protected":false},"excerpt":{"rendered":"
Well this is one of my first attempts at working with a docker container in order to isolate various AUR packages and perform patches or version control on dependencies, without interfering with package dependencies on my primary system. Up until this point, I have worked with various virutal python environments when experimenting with AI tools<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"nf_dc_page":"","om_disable_all_campaigns":false,"pagelayer_contact_templates":[],"_pagelayer_content":"","_jetpack_newsletter_access":"","_jetpack_dont_email_post_to_subs":false,"_jetpack_newsletter_tier_id":0,"_jetpack_memberships_contains_paywalled_content":false,"_jetpack_hide_featured_image":false,"_jetpack_featured_image_duplicate_dismissed":0,"_jetpack_memberships_contains_paid_content":false,"footnotes":""},"categories":[1],"tags":[],"class_list":["post-1274","post","type-post","status-publish","format-standard","hentry","category-uncategorized"],"yoast_head":"\nGazebo Robot Simulator in a Docker Container - SparkOne() Labs Official Site<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/sparkonelabs.com\/home\/2024\/08\/17\/gazebo-robot-simulator-in-a-docker-container\/\" \/>\n<meta property=\"og:locale\" content=\"en_US\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"Gazebo Robot Simulator in a Docker Container - SparkOne() Labs Official Site\" \/>\n<meta property=\"og:description\" content=\"Well this is one of my first attempts at working with a docker container in order to isolate various AUR packages and perform patches or version control on dependencies, without interfering with package dependencies on my primary system. 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