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Virtual Shake Robot Setup with Docker and X11 Forwarding

Prerequisites

  • Docker installed on your system.
  • A working internet connection to pull Docker images and dependencies.
  • X11 server installed and configured for GUI-based applications. (For Linux users, this is typically installed by default; for Mac, consider using XQuartz; for Windows, VcXsrv).

Step-by-Step Instructions

  1. Clone the Repository

    Clone the repository to your local machine:

    git clone https://github.com/ZhiangChen/virtual_shake_robot_pybullet.git && cd virtual_shake_robot_pybullet

  2. Build the Docker Image

    Inside the cloned repository, build the Docker image with the following command:

    cd docker
docker build -t vsr_pybullet .

    This will create a Docker image named vsr_pybullet. The Dockerfile will install all the dependencies, including PyBullet and ROS2 Humble.

  3. Enable X11 Forwarding for GUI Applications

    For GUI applications to work (e.g., viewing PyBullet's simulation environment), you need to enable X11 forwarding:

    • Linux:

      • Allow Docker to use your display by running: 
        xhost +local:docker

    • Mac (using XQuartz):

      • Start XQuartz from your Applications.
      • Allow connections from localhost by going to XQuartz > Preferences, navigating to the Security tab, and checking Allow connections from network clients.
      • Run the following in your terminal: 
        xhost + 127.0.0.1

    • Windows (using VcXsrv):

      • Start VcXsrv with the default configuration, making sure to enable the "Disable access control" option.

  4. Run the Docker Container

    Now, run the Docker container with X11 forwarding:

    docker run -it --rm        --name vsr_pybullet_container        -e DISPLAY=$DISPLAY        -v /tmp/.X11-unix:/tmp/.X11-unix        vsr_pybullet
    • The -e DISPLAY=$DISPLAY flag ensures that the display is correctly forwarded to your host.
    • The -v /tmp/.X11-unix:/tmp/.X11-unix mounts the X11 socket to enable GUI support.

    This will start a container named vsr_pybullet_container from the vsr_pybullet image. The -it flag runs the container interactively, and the --rm flag ensures that the container is removed once you exit.

  5. Access the ROS2 Workspace

    Once inside the Docker container, navigate to the ROS2 workspace and build the package:

    cd ~/ros2_ws/src/virtual_shake_robot_pybullet
colcon build --packages-select virtual_shake_robot_pybullet

  6. Source the ROS2 Environment

    Before running any ROS2 commands, source the workspace:

    source ~/ros2_ws/install/setup.bash

  7. Run the Simulation

    You can now run the Virtual Shake Robot simulations as you would on a native setup. For example:

    ros2 launch virtual_shake_robot_pybullet <launch_file>.launch.py

    Replace <launch_file> with the appropriate launch file name.

Additional Notes

  • If you encounter any display issues, make sure that your X11 server is running correctly and that the xhost settings are properly configured.
  • This setup assumes that you are using the default display :0. If you are using a different display, adjust the DISPLAY environment variable accordingly.