67 lines
2.2 KiB
Markdown
67 lines
2.2 KiB
Markdown
# Running CARLA in a Docker
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* [__Docker installation__](#docker-installation)
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* [Docker CE](#docker-ce)
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* [NVIDIA-Docker2](#nvidia-docker2)
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* [__Running CARLA container__](#running-carla-container)
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This tutorial is designed for:
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* People that want to run CARLA without needing to install all dependencies.
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* Recommended solution to run multiple CARLA servers and perform GPU mapping.
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* People who don't need to render the full simulation (the server is headless).
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This tutorial was tested in Ubuntu 16.04 and using NVIDIA 396.37 drivers.
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This method requires a version of NVIDIA drivers >=390.
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---
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## Docker Installation
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!!! note
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Docker requires sudo to run. Follow this guide to add users to the docker sudo
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group <https://docs.docker.com/install/linux/linux-postinstall/>
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### Docker CE
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For our tests we used the Docker CE version.
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To install Docker CE we recommend using [this tutorial][tutoriallink]
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[tutoriallink]: https://docs.docker.com/install/linux/docker-ce/ubuntu/#extra-steps-for-aufs
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### NVIDIA-Docker2
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To install nvidia-docker-2 we recommend using the "Quick Start" section from the [nvidia-dockers github](https://github.com/NVIDIA/nvidia-docker).
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---
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## Running CARLA container
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Pull the CARLA image.
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```sh
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docker pull carlasim/carla:version
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```
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To select a specific version:
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```sh
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docker pull carlasim/carla:0.9.11
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```
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Running CARLA under docker.
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```sh
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docker run -p 2000-2002:2000-2002 --runtime=nvidia --gpus all carlasim/carla:0.8.4
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```
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The `-p 2000-2002:2000-2002` argument is to redirect host ports for the docker container.
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Use `--gpus '"device=<gpu_01>,<gpu_02>"'` to specify which GPUs should run CARLA. Take a look at this [NVIDIA documentation](https://github.com/NVIDIA/nvidia-docker) to learn other syntax options.
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You can also pass parameters to the CARLA executable. With this you can chose the town and select the port that is going to be used.
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```sh
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docker run -p 2000-2002:2000-2002 --runtime=nvidia -e NVIDIA_VISIBLE_DEVICES=0 carlasim/carla:0.8.4 /bin/bash CarlaUE4.sh < Your list of parameters >
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```
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At the list of parameters do not forget to add `-world-port=<port_number>` so that CARLA runs on server mode listening to the `<port_number>`.
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