Docker containers for Haru projects.
Install the Docker Engine and follow the post-installation steps.
For CUDA support, also install the NVIDIA Container Toolkit.
Set ROS variable with:
export ROS_DOMAIN_ID=xxx
Allow Docker GUI access:
xhost +local:root
docker build --rm -t haru/haru-os:ros2 -f haru-os/Dockerfile ./haru-os
Run:
docker run -it --rm --name haru-os --gpus all \
--network host --ipc host \
-v /tmp/.X11-unix:/tmp/.X11-unix \
-e DISPLAY=${DISPLAY} -e ROS_DOMAIN_ID=${ROS_DOMAIN_ID} \
haru/haru-os:ros2
Or compose: (recommended)
docker compose -f docker-compose-haru.yaml --env-file .env up