{"id":5110,"date":"2022-06-19T21:50:48","date_gmt":"2022-06-19T12:50:48","guid":{"rendered":"https:\/\/now0930.pe.kr\/wordpress\/?p=5110"},"modified":"2022-06-26T22:57:00","modified_gmt":"2022-06-26T13:57:00","slug":"ros%eb%a5%bc-nvidia-docker%eb%a1%9c-%eb%8f%8c%eb%a6%ac%ea%b8%b0","status":"publish","type":"post","link":"https:\/\/now0930.pe.kr\/wordpress\/ros%eb%a5%bc-nvidia-docker%eb%a1%9c-%eb%8f%8c%eb%a6%ac%ea%b8%b0\/","title":{"rendered":"ros\ub97c nvidia docker\ub85c \ub3cc\ub9ac\uae30"},"content":{"rendered":"\n<p>\ucd5c\uc2e0 ros docker \uc774\ubbf8\uc9c0\ub85c gazebo\ub97c \uadf8\ub0e5 \ub3cc\ub9ac\uba74 \ucd08\ub2f9 4 frame\uc73c\ub85c \uc5c5\ub370\uc774\ud2b8 \ub41c\ub2e4. \ucc38\uace0 \uc0ac\uc6a9 \uc0ac\uc6a9\ud558\ub824\ub2e4 \ub290\ub824 \ub3c4\uc800\ud788 \uc0ac\uc6a9\ud560 \uc218 \uc5c6\uc5b4 \ubc29\ubc95\uc744 \ucc3e\uc544 \ubd24\ub2e4. nvidia-docker\ub85c runtime\uc744 nvidia\ub85c \uc785\ub825\ud574 \uc8fc\uba74 \ucd08 \ub2f9 60 \ud504\ub808\uc784\uc73c\ub85c \uc5c5\ub370\uc774\ud2b8 \ub41c\ub2e4. \uae08\ubc29 \ud560 \uc218 \uc788\uc5b4 \ucc3e\uc740 \ubcf4\ub78c\uc774 \uc788\ub2e4.<\/p>\n\n\n\n<p><a href=\" http:\/\/wiki.ros.org\/docker\/Tutorials\/Hardware%20Acceleration\"> http:\/\/wiki.ros.org\/docker\/Tutorials\/Hardware%20Acceleration<\/a><\/p>\n\n\n\n<p>\uc704 \uc0ac\uc774\ud2b8\ub97c \ucc38\uc870\ud558\uc5ec \uc544\ub798 Dockerfile\ub85c \uc0c8\ub86d\uac8c \uc774\ubbf8\uc9c0\ub97c \ub9cc\ub4e4\uc5c8\ub2e4.<\/p>\n\n\n\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"generic\" data-enlighter-theme=\"\" data-enlighter-highlight=\"\" data-enlighter-linenumbers=\"\" data-enlighter-lineoffset=\"\" data-enlighter-title=\"\" data-enlighter-group=\"\">FROM osrf\/ros:noetic-desktop-full\n\n# nvidia-container-runtime\nENV NVIDIA_VISIBLE_DEVICES \\\n    ${NVIDIA_VISIBLE_DEVICES:-all}\nENV NVIDIA_DRIVER_CAPABILITIES \\\n    ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics\n\nUSER root\nRUN apt -y update\nRUN apt -y install vim\nCOPY .\/.bashrc \/root\/<\/pre>\n\n\n\n<p>\ub9e4\ubc88 \uc785\ub825\ud558\uae30 \uadc0\ucc2e\uc73c\ub2c8 <a href=\"https:\/\/www.notion.so\/2-ROS-22dcd11590bf432085273ce91e96ef9c\">ros \uac15\uc758 \uc790\ub8cc<\/a>\uc5d0 \uc788\ub294 alias\ub97c \ucc38\uc870\ud558\uc5ec  .bashrc\ub97c \ub8e8\ud2b8 \ud648\uc5d0 \ub123\uc5c8\ub2e4. \ucc98\uc74c \ucee8\ud14c\uc774\ub108\ub97c \uc2e4\ud589\ud560 \ub54c entrypoint\ub85c bashrc\ub97c \uc790\ub3d9\uc73c\ub85c \uc2e4\ud589\ud558\ub294\ub370, \ub450\ubc88\uc9f8 \ubd80\ud130\ub294 \uac19\uc740 \ucee8\ud14c\uc774\ub108\uc5d0 \ubd99\uc5ec\ub3c4 bashrc\ub97c \uc2e4\ud589\ud558\uc9c0 \uc54a\ub294\ub2e4. docker exec \uc635\uc158\uc5d0 \uc5c6\ub294 \ub4ef \ud558\ub2e4. <\/p>\n\n\n\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"generic\" data-enlighter-theme=\"\" data-enlighter-highlight=\"\" data-enlighter-linenumbers=\"\" data-enlighter-lineoffset=\"\" data-enlighter-title=\"\" data-enlighter-group=\"\">now0930@amd2004:~\/dockerBuild\/ros$ docker exec -it noetic_ros \/bin\/bash\nroot@amd2004:\/# sds<\/pre>\n\n\n\n<p>\ub9e4\ubc88 \ucee8\ud14c\uc774\ub108\uc5d0 \ub4e4\uc5b4\uac04 \ud6c4 sds\ub97c \uc2e4\ud589\ud574\uc57c \ud558\uc5ec \uadc0\ucc2e\ub2e4.<\/p>\n\n\n\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"generic\" data-enlighter-theme=\"\" data-enlighter-highlight=\"\" data-enlighter-linenumbers=\"\" data-enlighter-lineoffset=\"\" data-enlighter-title=\"\" data-enlighter-group=\"\">now0930@amd2004:~\/dockerBuild\/ros$ cat .bashrc \nalias eb='vi ~\/.bashrc'\nalias sb='source ~\/.bashrc'\nalias cma='catkin_make -DCATKIN_WHITELIST_PACKAGES=\"\"'\nalias cop='catkin_make --only-pkg-with-deps'\nalias sds='source \/opt\/ros\/noetic\/setup.bash'\nalias axclient='rosrun actionlib axclient.py'\nset -o vi<\/pre>\n\n\n\n<p>xhost\ub85c local\uc744 \ucd94\uac00\ud558\uc5ec docker \ucd9c\ub825\uc744 \ub3cc\ub9b0\ub2e4. docer run\uc744 \ub2e4\uc74c\uacfc \uac19\uc774 \ud55c\ub2e4.<\/p>\n\n\n\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"generic\" data-enlighter-theme=\"\" data-enlighter-highlight=\"\" data-enlighter-linenumbers=\"\" data-enlighter-lineoffset=\"\" data-enlighter-title=\"\" data-enlighter-group=\"\">now0930@amd2004:~\/dockerBuild\/ros$ sudo xhost +local:docker\n[sudo] now0930 \uc554\ud638: \nnon-network local connections being added to access control list\nnow0930@amd2004:~\/dockerBuild\/ros$ xhost \naccess control enabled, only authorized clients can connect\nLOCAL:\nINET:localhost\nSI:localuser:now0930\nnow0930@amd2004:~\/dockerBuild\/ros$ <\/pre>\n\n\n\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"generic\" data-enlighter-theme=\"\" data-enlighter-highlight=\"\" data-enlighter-linenumbers=\"\" data-enlighter-lineoffset=\"\" data-enlighter-title=\"\" data-enlighter-group=\"\">#!\/bin\/bash\nnvidia-docker run -it -v \/run\/user\/1000:\/run\/user\/1000 -v \/dev:\/dev -v \/tmp\/.X11-unix:\/tmp\/.X11-unix:ro \\\n\t-v \/home\/now0930\/ros_test:\/home\/ros_test --name noetic_ros \\\n\t--privileged --ipc=host --shm-size=512m --net=host -e DISPLAY=$DISPLAY \\\n\t-e XDG_RUNTIME_DIR=\/run\/user\/1000 --runtime=nvidia \\\n\tosrf\/ros_custom:noetic-desktop-full <\/pre>\n","protected":false},"excerpt":{"rendered":"<p>\ucd5c\uc2e0 ros docker \uc774\ubbf8\uc9c0\ub85c gazebo\ub97c \uadf8\ub0e5 \ub3cc\ub9ac\uba74 \ucd08\ub2f9 4 frame\uc73c\ub85c \uc5c5\ub370\uc774\ud2b8 \ub41c\ub2e4. \ucc38\uace0 \uc0ac\uc6a9 \uc0ac\uc6a9\ud558\ub824\ub2e4 \ub290\ub824 \ub3c4\uc800\ud788 \uc0ac\uc6a9\ud560 \uc218 \uc5c6\uc5b4 [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":5112,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"site-sidebar-layout":"default","site-content-layout":"","ast-site-content-layout":"default","site-content-style":"default","site-sidebar-style":"default","ast-global-header-display":"","ast-banner-title-visibility":"","ast-main-header-display":"","ast-hfb-above-header-display":"","ast-hfb-below-header-display":"","ast-hfb-mobile-header-display":"","site-post-title":"","ast-breadcrumbs-content":"","ast-featured-img":"","footer-sml-layout":"","ast-disable-related-posts":"","theme-transparent-header-meta":"","adv-header-id-meta":"","stick-header-meta":"","header-above-stick-meta":"","header-main-stick-meta":"","header-below-stick-meta":"","astra-migrate-meta-layouts":"default","ast-page-background-enabled":"default","ast-page-background-meta":{"desktop":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center 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