AirSim-Docker

This dockerfile is used to build a docker image running Ubuntu 18.04, with ROS Melodic, Unreal Engine 4.25, AirSim 1.4, and GPU support.

Docker Pre-Reqs

1. docker installed on host (https://docs.docker.com/engine/install/ubuntu/)
   • Optional for QOL: remove need for sudo for docker (https://docs.docker.com/engine/install/linux-postinstall/)
2. nvidia-docker installed on host (https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/install-guide.html#installing-on-ubuntu-and-debian).
3. > 120GB in directory where docker images are built. This is typically in "/", recommend to shift to "/home" or other directory with larger storage (https://www.guguweb.com/2019/02/07/how-to-move-docker-data-directory-to-another-location-on-ubuntu/)
4. *After Steps 2 & 3, /etc/docker/daemon.json should look similar to below. Key parameters are "data-root", "runtimes", and "default-runtime".

   {
       "data-root": "/home/jonyktan/docker",
       "runtimes": {
           "nvidia": {
               "path": "nvidia-container-runtime",
               "runtimeArgs": []
           }
       },
       "default-runtime": "nvidia"
   }
   

5. git clone https://github.com/Amigoshan/tartanair into same directory as dockerfile. Rename the git folder to "/tartanair/".
6. Ensure docker image directory has "defaults" options or NO "nosuid" option. Check this using nano /etc/fstab.
   • Edit using "Disks". Recommended to set "Mount Options" to "defaults". See image below, above "Mount Point".

Build Docker Image

1. cd /directory/containing/dockerfile/
2. docker build -t <IMAGE_NAME>:<IMAGE_TAG> --build-arg GITHUB_PAT=<PAT> .
   • E.g. IMAGE_NAME = ue4, IMAGE_TAG = Tartan will build a docker image "ue4:Tartan".
   • <PAT> is your Github personal access token. (See here for steps on creating a PAT and using it: https://docs.github.com/en/github/authenticating-to-github/keeping-your-account-and-data-secure/creating-a-personal-access-token)
   • Make sure Github account has access rights to UnrealEngine repo. (See Section 1 - Required Setup at https://docs.unrealengine.com/4.26/en-US/SharingAndReleasing/Linux/BeginnerLinuxDeveloper/SettingUpAnUnrealWorkflow/)
   • Use docker container ls -a to view the built/incomplete image.

Run Docker Container from built Image

1. xhost +local:docker && docker run --rm -it -v "/tmp/.X11-unix:/tmp/.X11-unix:rw" -v "/path/to/your/UE_env:/workspace/UnrealProj" -e "DISPLAY=${DISPLAY}" --ipc="host" <IMAGE_NAME>:<IMAGE_TAG>
   • Enables GUI display on host.
   • Mounts a directory from host into the docker container (Unreal project is mounted in "/workspace/UnrealProj" inside the container).
   • More info here: https://docs.docker.com/engine/reference/commandline/run/.

Commit Container Changes to Container as new Image

1. Find the CONTAINER_NAME using docker container ls
2. docker commit <CONTAINER_NAME> <IMAGE_NAME>:<IMAGE_TAG>

Launch Additional Terminal for Running Container

1. Without GUI support
   • docker exec -it <CONTAINER_NAME> bash
2. With GUI support
   • xhost +local:docker && docker exec -it -e "DISPLAY=${DISPLAY}" <CONTAINER_NAME> bash
   
   

Set up Unreal AirSim Project (Custom Environment)

(https://microsoft.github.io/AirSim/unreal_custenv.html)
The folder AirSim/Unreal/Plugins/ needs to be inside the Unreal project folder.

1. In Windows Machine

   • Create new project with custom environment of choice. Copy Unreal project folder to Linux machine

2. In Linux Machine

   • If AirSim is built on the Linux machine, copy "Plugins/" from "AirSim/Unreal/" into the Unreal project folder. (This will be done in Step 1 of "Launch Unreal Engine inside Docker Container".)

Launch Unreal Engine inside Docker Container

1. Copy AirSim plugins to Unreal Project.
   • cp /workspace/AirSim/Unreal/Plugins/ /path/to/Unreal/Project/
     (E.g. for "/path/to/Unreal/Project/", use "/workspace/UnrealProj/".)
2. /workspace/UnrealEngine/Engine/Binaries/Linux/UE4Editor /path/to/Unreal/Project/<PROJECT_NAME>.uproject
3. Unreal Engine will prompt to rebuild AirSim. Click "Yes". First compile will take awhile.