CARLA in Docker - CARLA Simulator
Install Docker Engine on Ubuntu | Docker Documentation
sudo usermod -aG docker vipuser
newgrp docker
0. miniconda 安装
wget https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh
sudo chmod +x Miniconda3-latest-Linux-x86_64.sh
sudo ./Miniconda3-latest-Linux-x86_64.sh
sudo chmod a+w .conda
pip config set global.index-url https://pypi.tuna.tsinghua.edu.cn/simple
1. Docker 安装
sudo apt-get update
sudo apt-get install \
ca-certificates \
curl \
gnupg \
lsb-release
sudo mkdir -p /etc/apt/keyrings
curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo gpg --dearmor -o /etc/apt/keyrings/docker.gpg
echo \
"deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/docker.gpg] https://download.docker.com/linux/ubuntu \
$(lsb_release -cs) stable" | sudo tee /etc/apt/sources.list.d/docker.list > /dev/null
sudo apt-get update
sudo apt-get install docker-ce docker-ce-cli containerd.io docker-compose-plugin
sudo docker run hello-world
加速
vim /etc/docker/daemon.json
{
"registry-mirrors": [
"https://registry.docker-cn.com",
"http://hub-mirror.c.163.com",
"https://docker.mirrors.ustc.edu.cn"
]
}
2. NVIDIA Container Toolkit 安装
(36条消息) Ubuntu安装Nvidia Container Toolkit_八面受敌的博客-CSDN博客_ubuntu nvidia-container-toolkit
distribution=$(. /etc/os-release;echo $ID$VERSION_ID) \
&& curl -s -L https://nvidia.github.io/nvidia-docker/gpgkey | sudo apt-key add - \
&& curl -s -L https://nvidia.github.io/nvidia-docker/$distribution/nvidia-docker.list | sudo tee /etc/apt/sources.list.d/nvidia-docker.list \
&& curl -s -L https://nvidia.github.io/nvidia-container-runtime/experimental/$distribution/nvidia-container-runtime.list | sudo tee /etc/apt/sources.list.d/nvidia-container-runtime.list
sudo apt-get update
sudo apt-get install -y nvidia-docker2
sudo systemctl restart docker
sudo docker run --rm --gpus all nvidia/cuda:10.0-base nvidia-smi
3. Carla 镜像
# Pull the latest image
docker pull carlasim/carla:latest
# Pull a specific version
docker pull carlasim/carla:0.9.12
CARLA 0.9.12
To run CARLA with a display:
sudo docker run --privileged --gpus all --net=host -e DISPLAY=$DISPLAY carlasim/carla:0.9.12 /bin/bash ./CarlaUE4.sh
To run CARLA in off-screen mode:
sudo docker run --privileged --gpus all --net=host -v /tmp/.X11-unix:/tmp/.X11-unix:rw carlasim/carla:0.9.12 /bin/bash ./CarlaUE4.sh -RenderOffScreen
CARLA 0.9.7 to 0.9.11
To run CARLA using Vulkan:
sudo docker run --privileged --gpus all --net=host -e DISPLAY=$DISPLAY -e SDL_VIDEODRIVER=x11 -v /tmp/.X11-unix:/tmp/.X11-unix:rw carlasim/carla:0.9.11 /bin/bash ./CarlaUE4.sh -vulkan <-additonal-carla-flags>
Note
This command will allow you to run the CARLA image with Vulkan as long as your machine has a display. See the rendering documentation for information on running with Vulkan in off-screen mode.
To run CARLA using OpenGL:
docker run -e DISPLAY=$DISPLAY --net=host --gpus all --runtime=nvidia carlasim/carla:<version> /bin/bash Ca
其他
cuda和cudnn的配置
把cuda的nvcc加入环境变量：
export PATH=$PATH:/usr/local/cuda/bin
conda install cudatoolkit=10.0 -c https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/free/linux-64/
conda install cudnn=7 -c https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/main/linux-64/