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🐋 mcav-docker

Contains Dockerfiles and a run script.

The run.sh script automatically determines whether a GPU is available and builds and runs the appropriate image and container.

The mcav_autonomy directory is mounted as a volume so it can be accessed from inside and outside the container.

Networking and GUIs should work as normal inside and outside.

Requirements

Docker: sudo apt-get install docker.io

Follow "Manage Docker as a non-root user" at https://docs.docker.com/engine/install/linux-postinstall/

Nvidia-docker2 (For optional GPU support)

If using the PX2, enable docker experimental features so that it can use the --platform argument. This can be done by creating a file at /etc/docker/daemon.json with the contents: {"experimental": true}

How to use

First run

This will build the image if it doesn't exist and enter the container automatically.

  • cd mcav_autonomy
  • docker/run.sh

Rebuild the image

  • docker/run.sh build

Create a new container from the most recently built image

  • docker/run.sh rm (removes the existing container)
  • docker/run.sh