Let's try Ignition Fortress
out of curiosity, just wanted to try out Ignition Gazebo Simulator from source code build.
Environment
- Ubuntu 20.04 Docker Container
- Nvidia Runtime Acceleration
- Ignition Fortress
Nvidia Runtime
to access hardware via container, we need to install nvidia-docker2, which enables backend runtime to be issued by docker --gpus option.
the procedure is really easy and described in container-toolkit/install-guide.
with nvidia container runtime, we can see that it can access GPUs from container as following.
>docker run --rm --gpus all nvidia/cuda:11.0-base nvidia-smi
Thu Dec 16 06:42:31 2021
+-----------------------------------------------------------------------------+
| NVIDIA-SMI 460.73.01 Driver Version: 460.73.01 CUDA Version: 11.2 |
|-------------------------------+----------------------+----------------------+
| GPU Name Persistence-M| Bus-Id Disp.A | Volatile Uncorr. ECC |
| Fan Temp Perf Pwr:Usage/Cap| Memory-Usage | GPU-Util Compute M. |
| | | MIG M. |
|===============================+======================+======================|
| 0 GeForce GTX 105... Off | 00000000:01:00.0 On | N/A |
| 49% 46C P0 N/A / 75W | 763MiB / 4036MiB | 3% Default |
| | | N/A |
+-------------------------------+----------------------+----------------------+
+-----------------------------------------------------------------------------+
| Processes: |
| GPU GI CI PID Type Process name GPU Memory |
| ID ID Usage |
|=============================================================================|
+-----------------------------------------------------------------------------+
Ignition Build & Run
- start container runtime with GPUs
# this is required to allow access to host window system
>xhost +
# instantiate docker container
>docker run --gpus all -it --privileged -e DISPLAY="$DISPLAY" --network host --name ubuntu20_ign --volume="$HOME/.Xauthority:/root/.Xauthority:rw" -v /tmp/.X11-unix:/tmp/.X11-unix -v /home/tomoyafujita/DVT/docker_ws:/root/docker_ws nvidia/opengl:base
# glmarks / glxinfo should be working
> apt update
> apt install -y glmark2 mesa-utils
>glmark2
...
>glxinfo
...
- ignition source build
refer to fortress/install_ubuntu_src.
some warnings come up though, but i guess that we can just ignore for now.
colcon build --merge-install --parallel-workers 4
--- stderr: ignition-physics5 /root/docker_ws/ignition_ws/src/ign-physics/tpe/lib/src/Shape.cc: In copy constructor ‘ignition::physics::tpelib::CapsuleShape::CapsuleShape(const ignition::physics::tpelib::CapsuleShape&)’: /root/docker_ws/ignition_ws/src/ign-physics/tpe/lib/src/Shape.cc:98:11: warning: implicitly-declared ‘ignition::physics::tpelib::CapsuleShape& ignition::physics::tpelib::CapsuleShape::operator=(const ignition::physics::tpelib::CapsuleShape&)’ is deprecated [-Wdeprecated-copy] 98 | *this = _other; | ^~~~~~ /root/docker_ws/ignition_ws/src/ign-physics/tpe/lib/src/Shape.cc:95:1: note: because ‘ignition::physics::tpelib::CapsuleShape’ has user-provided ‘ignition::physics::tpelib::CapsuleShape::CapsuleShape(const ignition::physics::tpelib::CapsuleShape&)’ 95 | CapsuleShape::CapsuleShape(const CapsuleShape &_other) | ^~~~~~~~~~~~ /root/docker_ws/ignition_ws/src/ign-physics/tpe/lib/src/Shape.cc: In copy constructor ‘ignition::physics::tpelib::EllipsoidShape::EllipsoidShape(const ignition::physics::tpelib::EllipsoidShape&)’: /root/docker_ws/ignition_ws/src/ign-physics/tpe/lib/src/Shape.cc:201:11: warning: implicitly-declared ‘ignition::physics::tpelib::EllipsoidShape& ignition::physics::tpelib::EllipsoidShape::operator=(const ignition::physics::tpelib::EllipsoidShape&)’ is deprecated [-Wdeprecated-copy] 201 | *this = _other; | ^~~~~~ /root/docker_ws/ignition_ws/src/ign-physics/tpe/lib/src/Shape.cc:198:1: note: because ‘ignition::physics::tpelib::EllipsoidShape’ has user-provided ‘ignition::physics::tpelib::EllipsoidShape::EllipsoidShape(const ignition::physics::tpelib::EllipsoidShape&)’ 198 | EllipsoidShape::EllipsoidShape(const EllipsoidShape &_other) | ^~~~~~~~~~~~~~ In file included from /root/docker_ws/ignition_ws/src/ign-physics/src/utils/TestDataTypes.hh:24, from /root/docker_ws/ignition_ws/src/ign-physics/src/SpecifyData_TEST.cc:22: /root/docker_ws/ignition_ws/src/ign-physics/include/ignition/physics/SpecifyData.hh: In member function ‘ignition::physics::RequireData& ignition::physics::RequireData::operator=(const ignition::physics::RequireData&)’: /root/docker_ws/ignition_ws/src/ign-physics/include/ignition/physics/SpecifyData.hh:173:11: warning: implicitly-declared ‘ignition::physics::ExpectData& ignition::physics::ExpectData::operator=(const ignition::physics::ExpectData&)’ is deprecated [-Wdeprecated-copy] 173 | class RequireData : public virtual ExpectData | ^~~~~~~~~~~~~~~~~~~~~ In file included from /root/docker_ws/ignition_ws/src/ign-physics/include/ignition/physics/SpecifyData.hh:357, from /root/docker_ws/ignition_ws/src/ign-physics/src/utils/TestDataTypes.hh:24, from /root/docker_ws/ignition_ws/src/ign-physics/src/SpecifyData_TEST.cc:22: /root/docker_ws/ignition_ws/src/ign-physics/include/ignition/physics/detail/SpecifyData.hh:44:5: note: because ‘ignition::physics::ExpectData’ has user-provided ‘ignition::physics::ExpectData::ExpectData(const ignition::physics::ExpectData&) [with Expected = StringData]’ 44 | ExpectData::ExpectData(const ExpectData &) | ^~~~~~~~~~~~~~~~~~~~ /root/docker_ws/ignition_ws/src/ign-physics/include/ignition/physics/detail/SpecifyData.hh: In member function ‘ignition::physics::SpecifyData, ignition::physics::RequireData >& ignition::physics::SpecifyData, ignition::physics::RequireData >::operator=(const ignition::physics::SpecifyData, ignition::physics::RequireData >&)’: /root/docker_ws/ignition_ws/src/ign-physics/include/ignition/physics/detail/SpecifyData.hh:321:11: note: synthesized method ‘ignition::physics::RequireData& ignition::physics::RequireData::operator=(const ignition::physics::RequireData&)’ first required here 321 | class SpecifyData : | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ In file included from /root/docker_ws/ignition_ws/src/ign-physics/src/utils/TestDataTypes.hh:24, from /root/docker_ws/ignition_ws/src/ign-physics/src/SpecifyData_TEST.cc:22: /root/docker_ws/ignition_ws/src/ign-physics/include/ignition/physics/SpecifyData.hh: In member function ‘ignition::physics::RequireData& ignition::physics::RequireData::operator=(const ignition::physics::RequireData&)’: /root/docker_ws/ignition_ws/src/ign-physics/include/ignition/physics/SpecifyData.hh:173:11: warning: implicitly-declared ‘ignition::physics::ExpectData& ignition::physics::ExpectData::operator=(const ignition::physics::ExpectData&)’ is deprecated [-Wdeprecated-copy] 173 | class RequireData : public virtual ExpectData | ^~~~~~~~~~~~~~~~~~~~~ In file included from /root/docker_ws/ignition_ws/src/ign-physics/include/ignition/physics/SpecifyData.hh:357, from /root/docker_ws/ignition_ws/src/ign-physics/src/utils/TestDataTypes.hh:24, from /root/docker_ws/ignition_ws/src/ign-physics/src/SpecifyData_TEST.cc:22: /root/docker_ws/ignition_ws/src/ign-physics/include/ignition/physics/detail/SpecifyData.hh:44:5: note: because ‘ignition::physics::ExpectData’ has user-provided ‘ignition::physics::ExpectData::ExpectData(const ignition::physics::ExpectData&) [with Expected = BoolData]’ 44 | ExpectData::ExpectData(const ExpectData &) | ^~~~~~~~~~~~~~~~~~~~ /root/docker_ws/ignition_ws/src/ign-physics/include/ignition/physics/detail/SpecifyData.hh: In member function ‘ignition::physics::SpecifyData, ignition::physics::RequireData >& ignition::physics::SpecifyData, ignition::physics::RequireData >::operator=(const ignition::physics::SpecifyData, ignition::physics::RequireData >&)’: /root/docker_ws/ignition_ws/src/ign-physics/include/ignition/physics/detail/SpecifyData.hh:321:11: note: synthesized method ‘ignition::physics::RequireData& ignition::physics::RequireData::operator=(const ignition::physics::RequireData&)’ first required here 321 | class SpecifyData : | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ In file included from /root/docker_ws/ignition_ws/src/ign-physics/src/utils/TestDataTypes.hh:24, from /root/docker_ws/ignition_ws/src/ign-physics/src/SpecifyData_TEST.cc:22: /root/docker_ws/ignition_ws/src/ign-physics/include/ignition/physics/SpecifyData.hh: In member function ‘ignition::physics::RequireData& ignition::physics::RequireData::operator=(const ignition::physics::RequireData&)’: /root/docker_ws/ignition_ws/src/ign-physics/include/ignition/physics/SpecifyData.hh:173:11: warning: implicitly-declared ‘ignition::physics::ExpectData& ignition::physics::ExpectData::operator=(const ignition::physics::ExpectData&)’ is deprecated [-Wdeprecated-copy] 173 | class RequireData : public virtual ExpectData | ^~~~~~~~~~~~~~~~~~~~~ In file included from /root/docker_ws/ignition_ws/src/ign-physics/include/ignition/physics/SpecifyData.hh:357, from /root/docker_ws/ignition_ws/src/ign-physics/src/utils/TestDataTypes.hh:24, from /root/docker_ws/ignition_ws/src/ign-physics/src/SpecifyData_TEST.cc:22: /root/docker_ws/ignition_ws/src/ign-physics/include/ignition/physics/detail/SpecifyData.hh:44:5: note: because ‘ignition::physics::ExpectData’ has user-provided ‘ignition::physics::ExpectData::ExpectData(const ignition::physics::ExpectData&) [with Expected = CharData]’ 44 | ExpectData::ExpectData(const ExpectData &) | ^~~~~~~~~~~~~~~~~~~~ /root/docker_ws/ignition_ws/src/ign-physics/include/ignition/physics/detail/SpecifyData.hh: In member function ‘ignition::physics::SpecifyData, ignition::physics::RequireData >& ignition::physics::SpecifyData, ignition::physics::RequireData >::operator=(const ignition::physics::SpecifyData, ignition::physics::RequireData >&)’: /root/docker_ws/ignition_ws/src/ign-physics/include/ignition/physics/detail/SpecifyData.hh:321:11: note: synthesized method ‘ignition::physics::RequireData& ignition::physics::RequireData::operator=(const ignition::physics::RequireData&)’ first required here 321 | class SpecifyData : | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ /root/docker_ws/ignition_ws/src/ign-physics/include/ignition/physics/detail/SpecifyData.hh: In member function ‘ignition::physics::RequireData& ignition::physics::RequireData::operator=(const ignition::physics::RequireData&)’: /root/docker_ws/ignition_ws/src/ign-physics/include/ignition/physics/detail/SpecifyData.hh:435:11: note: synthesized method ‘ignition::physics::SpecifyData, ignition::physics::RequireData >& ignition::physics::SpecifyData, ignition::physics::RequireData >::operator=(const ignition::physics::SpecifyData, ignition::physics::RequireData >&)’ first required here 435 | class RequireData | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ /root/docker_ws/ignition_ws/src/ign-physics/include/ignition/physics/detail/SpecifyData.hh: In member function ‘ignition::physics::SpecifyData, ignition::physics::RequireData >& ignition::physics::SpecifyData, ignition::physics::RequireData >::operator=(const ignition::physics::SpecifyData, ignition::physics::RequireData >&)’: /root/docker_ws/ignition_ws/src/ign-physics/include/ignition/physics/detail/SpecifyData.hh:321:11: note: synthesized method ‘ignition::physics::RequireData& ignition::physics::RequireData::operator=(const ignition::physics::RequireData&)’ first required here 321 | class SpecifyData : | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ /root/docker_ws/ignition_ws/src/ign-physics/include/ignition/physics/detail/SpecifyData.hh: In member function ‘ignition::physics::RequireData& ignition::physics::RequireData::operator=(const ignition::physics::RequireData&)’: /root/docker_ws/ignition_ws/src/ign-physics/include/ignition/physics/detail/SpecifyData.hh:435:11: note: synthesized method ‘ignition::physics::SpecifyData, ignition::physics::RequireData >& ignition::physics::SpecifyData, ignition::physics::RequireData >::operator=(const ignition::physics::SpecifyData, ignition::physics::RequireData >&)’ first required here 435 | class RequireData | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ /root/docker_ws/ignition_ws/src/ign-physics/include/ignition/physics/detail/SpecifyData.hh: In member function ‘ignition::physics::SpecifyData, ignition::physics::ExpectData >& ignition::physics::SpecifyData, ignition::physics::ExpectData >::operator=(const ignition::physics::SpecifyData, ignition::physics::ExpectData >&)’: /root/docker_ws/ignition_ws/src/ign-physics/include/ignition/physics/detail/SpecifyData.hh:321:11: note: synthesized method ‘ignition::physics::RequireData& ignition::physics::RequireData::operator=(const ignition::physics::RequireData&)’ first required here 321 | class SpecifyData : | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ /root/docker_ws/ignition_ws/src/ign-physics/include/ignition/physics/detail/SpecifyData.hh: In member function ‘ignition::physics::SpecifyData, ignition::physics::ExpectData >& ignition::physics::SpecifyData, ignition::physics::ExpectData >::operator=(const ignition::physics::SpecifyData, ignition::physics::ExpectData >&)’: /root/docker_ws/ignition_ws/src/ign-physics/include/ignition/physics/detail/SpecifyData.hh:321:11: warning: implicitly-declared ‘ignition::physics::ExpectData& ignition::physics::ExpectData::operator=(const ignition::physics::ExpectData&)’ is deprecated [-Wdeprecated-copy] /root/docker_ws/ignition_ws/src/ign-physics/include/ignition/physics/detail/SpecifyData.hh:44:5: note: because ‘ignition::physics::ExpectData’ has user-provided ‘ignition::physics::ExpectData::ExpectData(const ignition::physics::ExpectData&) [with Expected = IntData]’ 44 | ExpectData::ExpectData(const ExpectData &) | ^~~~~~~~~~~~~~~~~~~~ /root/docker_ws/ignition_ws/src/ign-physics/include/ignition/physics/detail/SpecifyData.hh:321:11: warning: implicitly-declared ‘ignition::physics::ExpectData& ignition::physics::ExpectData::operator=(const ignition::physics::ExpectData&)’ is deprecated [-Wdeprecated-copy] 321 | class SpecifyData : | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ /root/docker_ws/ignition_ws/src/ign-physics/include/ignition/physics/detail/SpecifyData.hh:44:5: note: because ‘ignition::physics::ExpectData’ has user-provided ‘ignition::physics::ExpectData::ExpectData(const ignition::physics::ExpectData&) [with Expected = FloatData]’ 44 | ExpectData::ExpectData(const ExpectData &) | ^~~~~~~~~~~~~~~~~~~~ /root/docker_ws/ignition_ws/src/ign-physics/include/ignition/physics/detail/SpecifyData.hh: In member function ‘ignition::physics::ExpectData& ignition::physics::ExpectData::operator=(const ignition::physics::ExpectData&)’: /root/docker_ws/ignition_ws/src/ign-physics/include/ignition/physics/detail/SpecifyData.hh:424:11: note: synthesized method ‘ignition::physics::SpecifyData, ignition::physics::ExpectData >& ignition::physics::SpecifyData, ignition::physics::ExpectData >::operator=(const ignition::physics::SpecifyData, ignition::physics::ExpectData >&)’ first required here 424 | class ExpectData | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ /root/docker_ws/ignition_ws/src/ign-physics/include/ignition/physics/detail/SpecifyData.hh: In member function ‘ignition::physics::SpecifyData, ignition::physics::ExpectData >& ignition::physics::SpecifyData, ignition::physics::ExpectData >::operator=(const ignition::physics::SpecifyData, ignition::physics::ExpectData >&)’: /root/docker_ws/ignition_ws/src/ign-physics/include/ignition/physics/detail/SpecifyData.hh:321:11: note: synthesized method ‘ignition::physics::ExpectData& ignition::physics::ExpectData::operator=(const ignition::physics::ExpectData&)’ first required here 321 | class SpecifyData : | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ /root/docker_ws/ignition_ws/src/ign-physics/src/SpecifyData_TEST.cc: In member function ‘virtual void SpecifyData_Copy_Test::TestBody()’: /root/docker_ws/ignition_ws/src/ign-physics/src/SpecifyData_TEST.cc:683:16: note: synthesized method ‘ignition::physics::SpecifyData, ignition::physics::ExpectData >& ignition::physics::SpecifyData, ignition::physics::ExpectData >::operator=(const ignition::physics::SpecifyData, ignition::physics::ExpectData >&)’ first required here 683 | opEqData = data; | ^~~~then start sample world.
ign gazebo shapes.sdf -v 4
What's next
probably try some examples from ros_ign to comprehend how it works.