Docker-based installation

First of all open a terminal and pull the image of tiago_dual_tutorials:

• docker pull palroboticssl/tiago_dual_tutorials:noetic

Rocker is mandatory for the following tutorials to have a graphical user interface with docker. osrf/rocker,it is a tool to run docker images with customized local support injected for things like nvidia support, and user_id specific files for cleaner mounting file permissions. You could also find more useful information on this topic on Tooling with Docker.

• rocker with nvidia support:.

  You would need first to install nvidia docker support : https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/install-guide.html#docker :

• 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
  sudo apt-get update
  sudo apt-get install -y nvidia-docker2
  sudo systemctl restart docker

  And then run the rocker

• rocker --home --user --nvidia --x11 --privileged palroboticssl/tiago_dual_tutorials:noetic

• rocker with intel integrated graphics support:

• rocker --home --user --x11 --privileged palroboticssl/tiago_dual_tutorials:noetic --devices /dev/dri/card0

The options --home and --user are used so that the user won't be root and home directory will be mounted

If you are using a version of rocker that is lower than version 0.2.4, you would need to remove the --privileged option

Once you are inside the rocker you can do

• terminator -u

To open a terminal inside the rocker that will allow you to use several terminals on the same rocker (Do not forget to source them all)

To check that everything is properly installed run the TIAGo++ simulation tutorial