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StrideSim Docker Installation Guide

Graphic Driver Installation

To install the NVIDIA graphic driver, execute the following commands:

sudo apt-get update
sudo apt install build-essential -y
wget https://us.download.nvidia.com/XFree86/Linux-x86_64/535.129.03/NVIDIA-Linux-x86_64-535.129.03.run
chmod +x NVIDIA-Linux-x86_64-535.129.03.run
sudo ./NVIDIA-Linux-x86_64-535.129.03.run

alt text

I tried to install nvidia driver-550, and it also works.

Docker Installation

To install Docker, execute the following commands:

# Docker installation using the convenience script
curl -fsSL https://get.docker.com -o get-docker.sh
sudo sh get-docker.sh

# Post-install steps for Docker
sudo groupadd docker
sudo usermod -aG docker $USER
newgrp docker

# Verify Docker
docker run hello-world

Nvidia Container Toolkit Installation

#Configure the repository
curl -fsSL https://nvidia.github.io/libnvidia-container/gpgkey | sudo gpg --dearmor -o /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg \
  && curl -s -L https://nvidia.github.io/libnvidia-container/stable/deb/nvidia-container-toolkit.list | \
    sed 's#deb https://#deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://#g' | \
    sudo tee /etc/apt/sources.list.d/nvidia-container-toolkit.list \
  && \
    sudo apt-get update

#Install the NVIDIA Container Toolkit packages
sudo apt-get install -y nvidia-container-toolkit
sudo systemctl restart docker

#Configure the container runtime
sudo nvidia-ctk runtime configure --runtime=docker
sudo systemctl restart docker

#Verify NVIDIA Container Toolkit
docker run --rm --runtime=nvidia --gpus all ubuntu nvidia-smi

Get NGC Key

You can follow this official documentation to get the NGC key.

  1. Go to NGC

  2. Click on the Setup button on the top right.

    alt text

  3. Click on the Generate API Key button.

    alt text

  4. Copy the API Key.

docker login nvcr.io
Username: $oauthtoken
Password: API키

Get Isaac Sim Docker Image

docker pull nvcr.io/nvidia/isaac-sim:4.0.0

Run StrideSim Docker Container

  1. Build Docker Image
docker build -t stride-sim:v0.0.1 docker
  1. Run Docker Container
docker run --name stride-sim-0.0.1 --entrypoint bash -it --runtime=nvidia --gpus all -e "ACCEPT_EULA=Y" --network=host --privileged \
    --user $(id -u):$(id -g) \
    -e "PRIVACY_CONSENT=Y" \
    -e DISPLAY=$DISPLAY \
    -v /tmp/.X11-unix:/tmp/.X11-unix \
    -v ~/docker/isaac-sim/cache/kit:/isaac-sim/kit/cache:rw \
    -v ~/docker/isaac-sim/cache/ov:/root/.cache/ov:rw \
    -v ~/docker/isaac-sim/cache/pip:/root/.cache/pip:rw \
    -v ~/docker/isaac-sim/cache/glcache:/root/.cache/nvidia/GLCache:rw \
    -v ~/docker/isaac-sim/cache/computecache:/root/.nv/ComputeCache:rw \
    -v ~/docker/isaac-sim/logs:/root/.nvidia-omniverse/logs:rw \
    -v ~/docker/isaac-sim/data:/root/.local/share/ov/data:rw \
    -v ~/docker/isaac-sim/documents:/root/Documents:rw \
    -v /dev/shm:/dev/shm \
    stride-sim:v0.0.1

Now you can run StrideSim Docker Container.

It contains the Isaac Sim, StrideSim, IsaacLab and ROS2 Humble!!

You can run the following command to run isaac-sim.

cd /isaac-sim
./isaac-sim.sh --allow-root
  1. Get ROS2 Topic from StrideSim

The StrideSim container runs with administrative privileges. To receive ROS2 messages published by processes within this container, administrative permissions are required. You can choose one of the following methods, command below in host environment:

  • Use an administrator prompt.
$ sudo su
# source /opt/ros/humble/setup.bash
# ros2 topic list
  • Set permissions for /dev/shm.
$ sudo chmod -R 777 /dev/shm

ENJOY!

File Structure

  • /isaac-sim
  • /StrideSim
  • /IsaacLab
  • /opt/ros/humble

Reference

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