upmoon_docker

Docker images for running the upmoon robot on a Jetson Xavier NX

Setup

On first boot of the Xavier, run sudo apt upgrade && sudo apt update. If a menu pops up that asks about the default display manager, select gdm3. Afterwards, reboot the Xavier.

As mentioned here, enable access to the CUDA compiler during docker build operations by adding "default-runtime": "nvidia" to /etc/docker/daemon.json:

{
    "runtimes": {
        "nvidia": {
            "path": "nvidia-container-runtime",
            "runtimeArgs": []
        }
    },

    "default-runtime": "nvidia"
}

Then, reboot or restart the Docker service.

For communicating with other machines in ROS, add their hostname and ip to /etc/hosts.

Building the Containers

Run the following command to build the Docker containers.

$ git clone https://github.com/MarsRobotics/upmoon_docker.git
$ cd upmoon_docker
$ ./base/docker_build.sh
$ ./robot/docker_build.sh

Running the Containers

docker run -it --privileged --network=host ros:noetic-upmoon-robot