Skip to content

Install using Docker

Docker images that include the neccessary software and dependencies have been created for convenience.

Requirements

  1. Install Docker using installation instructions.

  2. Complete the Linux Postinstall steps to allow you to manage Docker as a non-root user.

  3. If you have an NVIDIA graphics card, it can help speed up rendering. Install nvidia-docker.

Use Existing Image on DockerHub

MBARI maintains Docker images for the two most recent releases on their DockerHub: - mbari/mbari_wec:latest - mbari/mbari_wec:previous

  1. Get run.bash script.

git clone -b main https://github.com/osrf/mbari_wec.git
cd ~/mbari_wec/docker/
Or 
wget https://raw.githubusercontent.com/osrf/mbari_wec/main/docker/run.bash
chmod +x run.bash

  1. Run the container

If you have an NVIDIA graphics card 

./run.bash mbari/mbari_wec:latest
Otherwise 
./run.bash mbari/mbari_wec:latest --no-nvidia

Build from Dockerfile

An alternative to using the images from MBARI's DockerHub would be to build from a Dockerfile. This is convenient if you would like to make any changes.

  1. Clone the mbari_wec repository to download the latest Dockerfile.
git clone -b main https://github.com/osrf/mbari_wec.git
cd ~/mbari_wec/docker/
  1. Build the docker image

If you have an NVIDIA graphics card 

./build.bash nvidia_opengl_ubuntu22
./build.bash mbari_wec
Otherwise 
./build.bash mbari_wec --no-nvidia

  1. Run the container

If you have an NVIDIA graphics card 

./run.bash mbari_wec
Otherwise 
./run.bash mbari_wec --no-nvidia

  1. To have another window running the same docker container, run this command in a new terminal:
./join.bash mbari_wec

Quick start

Quick start scripts are provided in the home directory:

This sources the compiled workspace: 

. setup.bash

This sources the compiled workspace and launches the simulation: 

./run_simulation.bash

Run an example to test

  1. In a new terminal (whether on host machine or in Docker container), source the workspace 

    . ~/mbari_wec_ws/install/setup.bash

  2. Launch the simulation 

    ros2 launch buoy_gazebo mbari_wec.launch.py

The simulation software should now be available. To run and test, proceed to the Run the Simulator tutorial series.