Carla Docker 安装

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/