Use SUAVE with Docker

You can pull and run the exemplar as a Docker container using the following command. Keep in mind you need to have Docker installed on your computer and running.

In a terminal on your computer run:

docker run -it --shm-size=512m -p 6901:6901 -e VNC_PW=password --security-opt seccomp=unconfined ghcr.io/kas-lab/suave:main

Optionally you can add the parameter -v <absolute_path_host_compute>:/home/kasm-user/suave/results to save the results into your computer, replace <absolute_path_host_compute> with the absolute path of where you want the data to be saved in your computer, e.g:

docker run -it --shm-size=512m -v $HOME/suave_results:/home/kasm-user/suave/results -p 6901:6901 -e VNC_PW=password --security-opt seccomp=unconfined ghcr.io/kas-lab/suave:main

SEAMS2023: To use the docker image used in the SEAMS2023 paper, replace ghcr.io/kas-lab/suave:main with ghcr.io/kas-lab/suave:seams2023.

Once the container is up and running, you can interface with it through your web browser. The container will be hosted locally at the port specified, in this case 6901. So in your browser, go to http://localhost:6901.

A dialog will request a username and password, these are shown below, with the password being specifiable in the run command.

User : kasm_user
Password: password

Headless docker image

We also provide a docker image without VCN/Web interface, so you can just run the experiments directly from your terminal without needing to log in into the web interface.

Pull image:

docker pull ghcr.io/kas-lab/suave-headless:main

Run image (without gpu):

docker run -it --rm --name suave_runner -e DISPLAY=$DISPLAY -e QT_X11_NO_MITSHM=1 -v /tmp/.X11-unix:/tmp/.X11-unix -v /etc/localtime:/etc/localtime:ro -v $HOME/suave_ws/src/suave:/home/ubuntu-user/suave_ws/src/suave suave-headless

Run image (with nvidia)(don’t forget to install nvidia docker toolkit)[https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html]:

docker run -it --rm --gpus all --runtime=nvidia --name suave_runner -e DISPLAY=$DISPLAY -e QT_X11_NO_MITSHM=1 -e NVIDIA_VISIBLE_DEVICES=all -e NVIDIA_DRIVER_CAPABILITIES=all -v /dev/dri:/dev/dri -v /tmp/.X11-unix:/tmp/.X11-unix -v /etc/localtime:/etc/localtime:ro -v $HOME/suave_ws/src/suave:/home/ubuntu-user/suave_ws/src/suave suave-headless

You can try by running:

ros2 run suave_runner suave_runner \
  --ros-args \
  -p gui:=False \
  -p experiments:='[
    "{\"experiment_launch\": \"ros2 launch suave_bt suave_bt.launch.py\", \
      \"num_runs\": 2, \
      \"adaptation_manager\": \"bt\", \
      \"mission_name\": \"suave\"}"
  ]'

If you want the image to have acess to the host GUI run the following command before running the image:

xhost +

Build Docker images locally

To build the docker images locally, run:

./build_docker_images.sh