{"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 class=\"wp-block-paragraph\">\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 class=\"wp-block-paragraph\">\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 class=\"wp-block-paragraph\">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=\"\">$cat \/etc\/ssh\/sshd_config\n...\n#AllowAgentForwarding yes\n#AllowTcpForwarding yes\n#GatewayPorts no\nX11Forwarding yes\nX11DisplayOffset 10\nX11UseLocalhost  yes\n...<\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">X11UseLocalhost no\ub85c \uc124\uc815\ud558\uba74 xauth add \uba85\ub839\uc5b4\uac00 \uc2e4\ud589\ub418\uc9c0 \uc54a\ub294\ub2e4.<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">172.30.1.71\uc5d0\uc11c ssh\ub85c 172.30.1.9\ub85c \uc811\uc18d\ud55c\ub2e4.<\/p>\n\n\n\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"generic\" data-enlighter-theme=\"\" data-enlighter-highlight=\"\" data-enlighter-linenumbers=\"\" data-enlighter-lineoffset=\"\" data-enlighter-title=\"\" data-enlighter-group=\"\">$ cat ~\/.ssh\/config \n\nHost rygen3600\n\tHostname 172.30.1.9\n\tForwardX11 yes<\/pre>\n\n\n\n<p class=\"wp-block-paragraph\">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 class=\"wp-block-paragraph\">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 class=\"wp-block-paragraph\">\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 class=\"wp-block-paragraph\">\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 \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. 172.30.1.9\uc5d0\uc11c sshd_config\ub97c \ub2e4\uc74c\uacfc \uac19\uc774 \uc124\uc815\ud55c\ub2e4. X11UseLocalhost no\ub85c \uc124\uc815\ud558\uba74 xauth add \uba85\ub839\uc5b4\uac00 \uc2e4\ud589\ub418\uc9c0 \uc54a\ub294\ub2e4. 172.30.1.71\uc5d0\uc11c ssh\ub85c 172.30.1.9\ub85c \uc811\uc18d\ud55c\ub2e4. docker container\ub97c \ub2e4\uc74c \uc635\uc158\uc73c\ub85c [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_jetpack_newsletter_access":"","_jetpack_dont_email_post_to_subs":false,"_jetpack_newsletter_tier_id":0,"_jetpack_memberships_contains_paywalled_content":false,"_jetpack_feature_clip_id":0,"_jetpack_memberships_contains_paid_content":false,"footnotes":"","jetpack_post_was_ever_published":false},"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_sharing_enabled":true,"jetpack_featured_media_url":"","_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}]}}