irsl_system

Using on browser

Preparing

• Install docker (linux, windows-wsl) or docker-destkop (windows)
• Download a file for docker compose
  • Linux, Windows-WSL
    • https://github.com/IRSL-tut/irsl_docker_irsl_system/raw/main/files/docker-compose-linux.yaml
  • Linux with GPU(nvidia and using nvidia-docker)
    • https://github.com/IRSL-tut/irsl_docker_irsl_system/raw/main/files/docker-compose-linux-gpu.yaml
  • Windows(Docker-desktop)
    • https://github.com/IRSL-tut/irsl_docker_irsl_system/raw/main/files/docker-compose-win.yaml

Run

docker compose -f <downloaded-compose>.yaml [ -p name ] up

• Access Jupyter

  • http://localhost:8888

• Access Window

  • http://localhost:9999/code.html

• Arguments (using environment variables)

  • USER_DIR=~/docker_userdir
  • DOCKER_USER = 0 # not working on windows(docker-desktop)
  • DOCKER_GROUP = 0 # not working on windows(docker-desktop)
  • VNC_PORT = 9999 # port number of browser_vnc
  • JUPYTER_PORT = 8888 # port number of jupyter
  • JUPYTER_TOKEN = '' # token (password) to login jupyter
  • DOCKER_DISPLAY = 10 #internal use
  • VGL_DISPLAY = :0 #GPU only
  • REPO=irslrepo/

• Example

  • Changing VNC port

VNC_PORT=11111 docker compose -f <downloaded-compose>.yaml [ -p name ] up

Run at local (linux, windows-wsl)

• all options

run.sh [OPTIONS] [ choreonoid (-- args) | assembler | jypyter | choreonoid-console | python (-- args) | ipython (-- args) ] [ -- args ] "

• bash

$ ./run.sh

• using devel build

$ ./run.sh --devel

• choreonoid

$ ./run.sh choreonoid

• robot assembler

$ ./run.sh assembler

• jupyter

$ ./run.sh jupyter

connect http://localhost:8888 with your browser

• choreonoid-console

$ ./run.sh choreonoid-console 

launch choreonoid and open console(jupyter-console) connected to launched choreonoid

Build docker image at local

Build base libraries

Please build docker images described below.

• https://github.com/IRSL-tut/irsl_docker_base
• https://github.com/IRSL-tut/irsl_docker_xeus

Build irsl_system

[ NO_CACHE=yes ] ./build.sh

BUILD_DEVEL=yes ./build.sh

• Development branch
  • https://github.com/IRSL-tut/choreonoid/tree/devel
  • https://github.com/IRSL-tut/choreonoid_ros/tree/devel
  • https://github.com/IRSL-tut/robot_assembler_plugin/tree/devel
  • https://github.com/IRSL-tut/jupyter_plugin/tree/devel
  • https://github.com/IRSL-tut/irsl_choreonoid_ros/tree/devel

Related repositories

choreonoid

https://github.com/IRSL-tut/choreonoid ( forked from https://github.com/choreonoid/choreonoid )

choreonoid_ros

https://github.com/IRSL-tut/choreonoid_ros ( forked from https://github.com/choreonoid/choreonoid_ros )

irsl_choreonoid

https://github.com/IRSL-tut/irsl_choreonoid

irsl_choreonoid_ros

https://github.com/IRSL-tut/irsl_choreonoid_ros

robot_assembler_plugin

https://github.com/IRSL-tut/robot_assembler_plugin

jupyter_plugin

https://github.com/IRSL-tut/jupyter_plugin