Docker Installation and Common Commands

Docker Installation

If you have already installed and used Docker, you can skip this section.

First, remove older Docker versions:

sudo apt-get remove docker docker-engine docker.io

Seeing output like this means it worked.

Install Docker dependencies:

sudo apt-get update
sudo apt-get install apt-transport-https ca-certificates curl software-properties-common

Set up the GPG key:

curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo apt-key add -
sudo apt-key fingerprint 0EBFCD88

Configure the repository:

sudo add-apt-repository "deb [arch=amd64] https://download.docker.com/linux/ubuntu $(lsb_release -cs) stable"

You can install Docker now:

sudo apt-get update
sudo apt-get install docker-ce

Pulling Docker Images

Using Autoware as an example, pull the official Autoware Docker image.

git clone https://gitlab.com/autowarefoundation/autoware.ai/docker.git
cd docker/generic/

If your GPU VRAM is greater than 4G and CUDA is installed, use the command below:

sudo ./run.sh

If CUDA is not installed, VRAM is less than 4G, or the command above fails, do not install the CUDA-enabled version—use the command below instead:

sudo ./run.sh -c off

Common Docker Commands

(1) Image list

docker image ls

(2) Container list

docker ps

(3) Enter a specific image

docker run -it 90e973a21691

(4) Attach multiple terminals to the same Docker container

docker exec -it containerID bash

After entering the container this way, you need to run source /opt/ros/melodic/setup.bash before using ROS.

(5) Stop Docker

docker stop containerID

(6) Transfer files with Docker

docker cp 本地文件的路径 container_id:<docker容器内的路径>
docker cp container_id:<docker容器内的路径> <本地保存文件的路径>