{"id":5808,"date":"2023-06-22T22:10:19","date_gmt":"2023-06-22T13:10:19","guid":{"rendered":"https:\/\/now0930.pe.kr\/wordpress\/?p=5808"},"modified":"2023-06-22T22:10:21","modified_gmt":"2023-06-22T13:10:21","slug":"docker-%eb%82%b4%eb%b6%80-gazebo%eb%a5%bc-%ec%9b%90%ea%b2%a9%ec%9c%bc%eb%a1%9c-%ec%8b%a4%ed%96%89","status":"publish","type":"post","link":"https:\/\/now0930.pe.kr\/wordpress\/docker-%eb%82%b4%eb%b6%80-gazebo%eb%a5%bc-%ec%9b%90%ea%b2%a9%ec%9c%bc%eb%a1%9c-%ec%8b%a4%ed%96%89\/","title":{"rendered":"docker \ub0b4\ubd80 gazebo\ub97c \uc6d0\uaca9\uc73c\ub85c \uc2e4\ud589"},"content":{"rendered":"\n<p>\uadf8\ub798\ud53d \ub4dc\ub77c\uc774\ubc84\uac00 \uc788\ub294 PC\ub97c \uac70\uc2e4\ub85c \uc62e\uae30\uace0, TV\uc5d0 \uc5f0\uacb0\ud574\uc11c \uc0ac\uc6a9\ud588\ub2e4. \uc0ac\uc6a9\ud560 \ub54c\ub294 \uc88b\uc740\ub370, \uc6d0\uaca9\uc73c\ub85c \ud130\ubbf8\ub110\ub85c \uc811\uc18d\ud558\uc5ec gazebo\ub97c \uc2e4\ud589\ud558\uae30 \uc5b4\ub824\uc6e0\ub2e4.<\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2023\/06\/image-15-edited.png\" alt=\"\" class=\"wp-image-5810\" width=\"610\" height=\"342\" srcset=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2023\/06\/image-15-edited.png 902w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2023\/06\/image-15-edited-768x432.png 768w\" sizes=\"auto, (max-width: 610px) 100vw, 610px\" \/><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\">172.30.1.71<\/h2>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\uc800\uc0ac\uc591 PC\ub85c \uc778\ud130\ub137 \uaca8\uc6b0 \ub428.<\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\">172.30.1.9<\/h2>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\ub0b4\ubd80 nvidia \uadf8\ub798\ud53d \uce74\ub4dc \uc124\uce58\ub85c \ubb34\uac70\uc6b4 PC<\/li>\n\n\n\n<li>\uc18c\uc74c \ubc1c\uc5f4 \uc2ec\ud568.<\/li>\n\n\n\n<li>docker\ub85c 172.17.0.1\ub85c gazebo\ub97c \uc2e4\ud589.<\/li>\n<\/ul>\n\n\n\n<p>\ubaa9\ud45c\ub294 172.30.1.71 pc\ub85c ssh \ud130\ubbf8\ub110\ub85c 172.30.1.9\uc5d0 \uc811\uc18d\ud55c \ub4a4 docker\ub85c \uc2e4\ud589\uc911\uc778 gazebo\ub97c 172.30.1.71 \ud654\uba74\uc73c\ub85c \ub744\uc6b0\uae30\ub2e4.<\/p>\n\n\n\n<p>172.30.1.9\uc5d0\uc11c sshd_config\ub97c \ub2e4\uc74c\uacfc \uac19\uc774 \uc124\uc815\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=\"\">$cat \/etc\/ssh\/sshd_config\n...\n#AllowAgentForwarding yes\n#AllowTcpForwarding yes\n#GatewayPorts no\nX11Forwarding yes\nX11DisplayOffset 10\nX11UseLocalhost  yes\n...<\/pre>\n\n\n\n<p>X11UseLocalhost no\ub85c \uc124\uc815\ud558\uba74 xauth add \uba85\ub839\uc5b4\uac00 \uc2e4\ud589\ub418\uc9c0 \uc54a\ub294\ub2e4.<\/p>\n\n\n\n<p>172.30.1.71\uc5d0\uc11c ssh\ub85c 172.30.1.9\ub85c \uc811\uc18d\ud55c\ub2e4.<\/p>\n\n\n\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"generic\" data-enlighter-theme=\"\" data-enlighter-highlight=\"\" data-enlighter-linenumbers=\"\" data-enlighter-lineoffset=\"\" data-enlighter-title=\"\" data-enlighter-group=\"\">$ cat ~\/.ssh\/config \n\nHost rygen3600\n\tHostname 172.30.1.9\n\tForwardX11 yes<\/pre>\n\n\n\n<p>docker container\ub97c \ub2e4\uc74c \uc635\uc158\uc73c\ub85c \uc2e4\ud589\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=\"\">nvidia-docker run -it -v \/run\/user\/1000:\/run\/user\/1000 -v \/dev:\/dev -v \/tmp\/.X11-unix:\/tmp\/.X11-unix:ro \\\n  -v \/home\/now0930\/ros2\/test:\/home\/ros2_test --name foxy\\\n  --privileged --ipc=host --shm-size=512m --net=host -e DISPLAY=$DISPLAY \\\n  -e XDG_RUNTIME_DIR=\/run\/user\/1000 --runtime=nvidia \\\n  osrf\/ros:foxy-desktop-custom<\/pre>\n\n\n\n<p>docker container\uc5d0 \uc811\uc18d\ud558\uc5ec gazebo\ub97c \uc2e4\ud589\ud558\uba74 <\/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=\"\">x11 connection rejected because of wrong authentication.<\/pre>\n\n\n\n<p>\uc5d0\ub7ec\uac00 \ub72c\ub2e4. docker \uc678\ubd80 \uacc4\uc815\uc758 ~\/.Xauthority \ud30c\uc77c\uc744 docker container root\uc5d0 \ubcf5\uc0ac\ud558\uba74 gazebo\uac00 \uc2e4\ud589\ub41c\ub2e4.<\/p>\n\n\n\n<figure class=\"wp-block-image size-full\"><img loading=\"lazy\" decoding=\"async\" width=\"1621\" height=\"1161\" src=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2023\/06\/image-16.png\" alt=\"\" class=\"wp-image-5811\" srcset=\"https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2023\/06\/image-16.png 1621w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2023\/06\/image-16-768x550.png 768w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2023\/06\/image-16-1536x1100.png 1536w, https:\/\/now0930.pe.kr\/wordpress\/wp-content\/uploads\/2023\/06\/image-16-1568x1123.png 1568w\" sizes=\"auto, (max-width: 1621px) 100vw, 1621px\" \/><\/figure>\n\n\n\n<p>\ube48 \ud654\uba74\uc778\ub370 22 \ud504\ub808\uc784\uc774 \ub098\uc628\ub2e4.<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\uadf8\ub798\ud53d \ub4dc\ub77c\uc774\ubc84\uac00 \uc788\ub294 PC\ub97c \uac70\uc2e4\ub85c \uc62e\uae30\uace0, TV\uc5d0 \uc5f0\uacb0\ud574\uc11c \uc0ac\uc6a9\ud588\ub2e4. \uc0ac\uc6a9\ud560 \ub54c\ub294 \uc88b\uc740\ub370, \uc6d0\uaca9\uc73c\ub85c \ud130\ubbf8\ub110\ub85c \uc811\uc18d\ud558\uc5ec gazebo\ub97c \uc2e4\ud589\ud558\uae30 \uc5b4\ub824\uc6e0\ub2e4. 172.30.1.71 172.30.1.9 [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"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 center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"tablet":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"mobile":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""}},"ast-content-background-meta":{"desktop":{"background-color":"var(--ast-global-color-4)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"tablet":{"background-color":"var(--ast-global-color-4)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"mobile":{"background-color":"var(--ast-global-color-4)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""}},"jetpack_post_was_ever_published":false,"_jetpack_newsletter_access":"","_jetpack_dont_email_post_to_subs":false,"_jetpack_newsletter_tier_id":0,"_jetpack_memberships_contains_paywalled_content":false,"_jetpack_memberships_contains_paid_content":false,"footnotes":""},"categories":[1049],"tags":[1076,68,1132],"class_list":["post-5808","post","type-post","status-publish","format-standard","hentry","category-ros","tag-gazebo","tag-ssh","tag-xforwarding"],"jetpack_featured_media_url":"","jetpack_sharing_enabled":true,"_links":{"self":[{"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/posts\/5808","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/comments?post=5808"}],"version-history":[{"count":1,"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/posts\/5808\/revisions"}],"predecessor-version":[{"id":5812,"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/posts\/5808\/revisions\/5812"}],"wp:attachment":[{"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/media?parent=5808"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/categories?post=5808"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/now0930.pe.kr\/wordpress\/wp-json\/wp\/v2\/tags?post=5808"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}