Flight Goggles Container

A Linux container running Unity3D & Flight Goggles ROS framework

Note: nvidia-docker2 and cuda >= 10.0 is required to run this container.

Build framework and client

git clone https://github.com/arian-amador/FlightGogglesContainer
cd FlightGogglesContainer
sudo docker build -t flight-goggles Framework

Run

Docker Specifics

For a GUI Application to run, an XServer is needed which is not available inside the container.

Share the hosts XServer with the container use the following flags.

• -v "$HOME/.Xauthority:/root/.Xauthority:rw"
• -e DISPLAY

Share the hosts network stack with the container use the following flag.

• --net=host

Share the hosts GPU with the container use the follow flag.

• --runtime=nvidia

Share the hosts IPC namespace for shared memory space.

• --ipc=host

Share the hosts Vulkan config and module.

The module below will vary depending on the hosts Nvidia drivers.

• -v /usr/share/vulkan/icd.d:/usr/share/vulkan/icd.d
• -v /usr/lib/x86_64-linux-gnu/libnvidia-glvkspirv.so.410.48:/usr/lib/x86_64-linux-gnu/libnvidia-glvkspirv.so.410.48

Framework

docker run \
  --rm \
  --runtime=nvidia \
  --network=host \
  -e DISPLAY \
  -v "$HOME/.Xauthority:/root/.Xauthority:rw" \
  -v /usr/share/vulkan/icd.d:/usr/share/vulkan/icd.d \
  -v /usr/lib/x86_64-linux-gnu/libnvidia-glvkspirv.so.410.48:/usr/lib/x86_64-linux-gnu/libnvidia-glvkspirv.so.410.48 \ flight-goggles:latest /bin/bash -c "/root/bin/execute.sh"

Resources

• Nvidia Docker: https://github.com/NVIDIA/nvidia-docker
• Nvidia+OpenGL images: https://hub.docker.com/r/nvidia/opengl/
• Unity3D Docker install: https://github.com/thomasquintana/AirSimContainer
• FlightGoggles: https://github.com/mit-fast/FlightGoggles
• Catkin Tools: https://catkin-tools.readthedocs.io/en/latest/index.html
• Kinetic: http://wiki.ros.org/kinetic/