https://github.com/carla-simulator/carla
- HEAD
- refs/heads/AntiAliasingMode
- refs/heads/AntonioMata/BlueprintParentClassFixer_Cleanup
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Tip revision: fbc29164f01e5d6929e2995ea9c15d7c94193026 authored by Axel on 17 October 2022, 14:04:43 UTC
Fixed tiles not being searched correctly, fixed probable race condition
Fixed tiles not being searched correctly, fixed probable race condition
Tip revision: fbc2916
build_docker.md
# CARLA in Docker
Users can pull an image based on a CARLA release to run in a Docker container. This is useful for users who:
- Want to run CARLA without needing to install all dependencies
- Run multiple CARLA servers and perform GPU mapping
- Run the CARLA server without a display
This tutorial explains the requirements to run the CARLA image and how to run the image with both OpenGL and Vulkan graphics APIs.
- [__Before you begin__](#before-you-begin)
- [__Running CARLA in a container__](#running-carla-in-a-container)
- [__Off-screen mode__](#off-screen-mode)
---
## Before you begin
You will need to have installed:
- __Docker:__ Follow the installation instructions [here](https://docs.docker.com/engine/install/).
- __NVIDIA Container Toolkit:__ The NVIDIA Container Toolkit is a library and toolset that exposes NVIDIA graphics devices to Linux containers. It is designed specifically for Linux containers running on Linux host systems or within Linux distributions under version 2 of the Windows Subsystem for Linux. Install the `nvidia-docker2` package by following the instructions [here](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/install-guide.html#installation-guide).
!!! note
Docker requires sudo to run. Follow [this guide](https://docs.docker.com/install/linux/linux-postinstall/) to add users to the docker sudo group.
---
## Running CARLA in a container
__1. Pull the CARLA image.__
You can pull either the latest CARLA image or a specific release version. The latest image refers to the most [recent packaged release](https://github.com/carla-simulator/carla/releases). To pull the image, run one of the following commands:
```sh
# Pull the latest image
docker pull carlasim/carla:latest
# Pull a specific version
docker pull carlasim/carla:0.9.12
```
__2. Run the CARLA container.__
Different versions of CARLA support different graphics APIs which can affect the conditions in which the Docker image can run:
- 0.9.12 supports only Vulkan
- 0.9.7+ supports both Vulkan and OpenGL.
__CARLA 0.9.12__
To run CARLA with a display:
```
sudo docker run --privileged --gpus all --net=host -e DISPLAY=$DISPLAY carlasim/carla:0.9.12 /bin/bash ./CarlaUE4.sh
```
To run CARLA in off-screen mode:
```
sudo docker run --privileged --gpus all --net=host -v /tmp/.X11-unix:/tmp/.X11-unix:rw carlasim/carla:0.9.12 /bin/bash ./CarlaUE4.sh -RenderOffScreen
```
__CARLA 0.9.7 to 0.9.11__
To run CARLA using Vulkan:
```sh
sudo docker run --privileged --gpus all --net=host -e DISPLAY=$DISPLAY -e SDL_VIDEODRIVER=x11 -v /tmp/.X11-unix:/tmp/.X11-unix:rw carlasim/carla:0.9.11 /bin/bash ./CarlaUE4.sh -vulkan <-additonal-carla-flags>
```
!!! Note
This command will allow you to run the CARLA image with Vulkan as long as your machine has a display. See the [rendering documentation](adv_rendering_options.md#off-screen-mode) for information on running with Vulkan in off-screen mode.
To run CARLA using OpenGL:
```sh
docker run -e DISPLAY=$DISPLAY --net=host --gpus all --runtime=nvidia carlasim/carla:<version> /bin/bash CarlaUE4.sh -opengl <-additonal-carla-flags>
```
__3. (Optional) Configure Docker flags.__
The above commands use some Docker flags that can be configured according to your needs:
- __Networking:__ The [`--net=host`](https://docs.docker.com/engine/reference/run/#network-settings) argument will allow the container to share the host's entire network. If you prefer to [map specific ports](https://docs.docker.com/engine/reference/run/#expose-incoming-ports) on the host machine to container ports, use the flag `-p <host-ports>:<container-ports>`.
- __GPUs:__ You can choose to use all GPUs with `--gpus all`, or target specific GPUs with `--gpus '"device=<gpu_01>,<gpu_02>"'`. See [here](https://docs.docker.com/config/containers/resource_constraints/#gpu) for more information.
---
## Off-screen mode
OpenGL requires no configuration if you are running CARLA on a machine without a display, however you will need to perform some extra steps to do the same using Vulkan prior to CARLA 0.9.12. See the [rendering documentation](adv_rendering_options.md#off-screen-mode) for information.
---
Any issues or doubts related with this topic can be posted in the CARLA forum.
<div class="build-buttons">
<p>
<a href="https://github.com/carla-simulator/carla/discussions/" target="_blank" class="btn btn-neutral" title="Go to the CARLA forum">
CARLA forum</a>
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