Skip to content

Docker on Linux#

There are two options for Docker:

  1. Build an image for running AutonomySim linux binaries
  2. Build an image for compiling Unreal Engine and AutonomySim from source

Binaries#

Requirements#

Build the docker image#

  • Below are the default arguments. --base_image: This is image over which we'll install AutonomySim. We've tested on Ubuntu 18.04 with CUDA 10.0. You can specify any NVIDIA cudagl at your own risk. --target_image is the desired name of your docker image. Defaults to autonomysim_binary with same tag as the base image
   cd AutonomySim/docker
   python build_autonomysim_image.py \
      --base_image=nvidia/cudagl:10.0-devel-ubuntu18.04 \
      --target_image=autonomysim_binary:10.0-devel-ubuntu18.04
  • Verify you have an image by: $ docker images | grep AutonomySim

Running an unreal binary inside a docker container#

  • Get a Linux binary or package your own project in Ubuntu. Let's take the Blocks binary as an example. You can download it by running the folowing:
   cd AutonomySim/docker
   ./download_blocks_env_binary.sh

Modify it to fetch the specific binary required.

  • Running an unreal binary inside a docker container, the syntax is:
   ./run_autonomysim_image_binary.sh DOCKER_IMAGE_NAME UNREAL_BINARY_SHELL_SCRIPT UNREAL_BINARY_ARGUMENTS -- headless

  • For Blocks, you can do a $ ./run_autonomysim_image_binary.sh autonomysim_binary:10.0-devel-ubuntu18.04 Blocks/Blocks.sh -windowed -ResX=1080 -ResY=720

  • DOCKER_IMAGE_NAME: Same as target_image parameter in previous step. By default, enter autonomysim_binary:10.0-devel-ubuntu18.04

  • UNREAL_BINARY_SHELL_SCRIPT: for Blocks enviroment, it will be Blocks/Blocks.sh
  • UNREAL_BINARY_ARGUMENTS:

For AutonomySim, most relevant would be -windowed, -ResX, -ResY. Click on link to see all options.

  • Running in Headless mode: suffix -- headless at the end:
./run_autonomysim_image_binary.sh Blocks/Blocks.sh -- headless

Source#

Requirements#

Build Unreal Engine inside docker#

  • To get access to Unreal Engine's source code, register on Epic Games' website and link it to your github account, as explained in the Required Steps section here.

    Note that you don't need to do Step 2: Downloading UE4 on Linux!

  • Build unreal engine 4.19.2 docker image. We're going to use CUDA 10.0 in our example. $ ue4-docker build 4.19.2 --cuda=10.0 --no-full

  • [optional] $ ue4-docker clean to free up some space. Details here
  • ue4-docker supports all CUDA version listed on NVIDIA's cudagl dockerhub here.

  • Please see this page for advanced configurations using ue4-docker

  • Disk space:

  • The unreal images and containers can take up a lot of space, especially if you try more than one version.
  • Here's a list of useful links to monitor space used by docker and clean up intermediate builds:

Building AutonomySim inside UE4 docker container#

  • Build AutonomySim docker image (which lays over the unreal image we just built) Below are the default arguments.
  • --base_image: This is image over which we'll install AutonomySim. We've tested on adamrehn/ue4-engine:4.19.2-cudagl10.0. See ue4-docker for other versions.
  • --target_image is the desired name of your docker image.

Defaults to autonomysim_source with same tag as the base image

cd AutonomySim/docker;
python build_autonomysim_image.py \
   --source \
   ----base_image adamrehn/ue4-engine:4.19.2-cudagl10.0 \
   --target_image=autonomysim_source:4.19.2-cudagl10.0

Running AutonomySim container#

  • Run the AutonomySim source image we built by:
   ./run_autonomysim_image_source.sh autonomysim_source:4.19.2-cudagl10.0

  • Syntax is ./run_autonomysim_image_source.sh DOCKER_IMAGE_NAME -- headless -- headless: suffix this to run in optional headless mode.

  • Inside the container, you can see UnrealEngine and AutonomySim under /home/ue4.

  • Start unreal engine inside the container: ue4@HOSTMACHINE:~$ /home/ue4/UnrealEngine/Engine/Binaries/Linux/UE4Editor
  • Specifying an AutonomySim settings.json
  • Continue with AutonomySim's Linux docs.

[Misc] Packaging Unreal Environments in autonomysim_source containers#

  • Let's take the Blocks environment as an example. In the following script, specify the full path to your unreal uproject file by project and the directory where you want the binaries to be placed by archivedirectory
/home/ue4/UnrealEngine/Engine/Build/BatchFiles/RunUAT.sh BuildCookRun \
   -platform=Linux -clientconfig=Shipping -serverconfig=Shipping -noP4 \
   -cook -allmaps -build -stage -prereqs -pak -archive \
   -archivedirectory=/home/ue4/Binaries/Blocks/ \
   -project=/home/ue4/AutonomySim/Unreal/Environments/Blocks/Blocks.uproject

This would create a Blocks binary in /home/ue4/Binaries/Blocks/. You can test it by running /home/ue4/Binaries/Blocks/LinuxNoEditor/Blocks.sh -windowed

Specifying settings.json#

autonomysim_binary Docker image#

  • We're mapping the host machine's PATH/TO/AutonomySim/docker/settings.json to the docker container's /home/autonomysim_user/Documents/AutonomySim/settings.json.
  • Hence, we can load any settings file by simply modifying PATH_TO_YOUR/settings.json by modifying the following snippets in run_autonomysim_image_binary.sh
nvidia-docker run --runtime=nvidia -it \
   -v $PATH_TO_YOUR/settings.json:/home/autonomysim_user/Documents/AutonomySim/settings.json \
   -v $UNREAL_BINARY_PATH:$UNREAL_BINARY_PATH \
   -e SDL_VIDEODRIVER=$SDL_VIDEODRIVER_VALUE \
   -e SDL_HINT_CUDA_DEVICE='0' \
   --net=host \
   --env="DISPLAY=$DISPLAY" \
   --env="QT_X11_NO_MITSHM=1" \
   --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
   -env="XAUTHORITY=$XAUTH" \
   --volume="$XAUTH:$XAUTH" \
   --rm $DOCKER_IMAGE_NAME \
   /bin/bash -c "$UNREAL_BINARY_COMMAND"

Note

Docker version >=19.03 (check using docker -v), natively supports Nvidia GPUs, so run using --gpus all flag as given -

docker run --gpus all -it ...

autonomysim_source docker image#

  • We're mapping the host machine's PATH/TO/AutonomySim/docker/settings.json to the docker container's /home/autonomysim_user/Documents/AutonomySim/settings.json.
  • Hence, we can load any settings file by simply modifying PATH_TO_YOUR/settings.json by modifying the following snippets in run_autonomysim_image_source.sh:
   nvidia-docker run --runtime=nvidia -it \
      -v $(pwd)/settings.json:/home/autonomysim_user/Documents/AutonomySim/settings.json \
      -e SDL_VIDEODRIVER=$SDL_VIDEODRIVER_VALUE \
      -e SDL_HINT_CUDA_DEVICE='0' \
      --net=host \
      --env="DISPLAY=$DISPLAY" \
      --env="QT_X11_NO_MITSHM=1" \
      --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
      -env="XAUTHORITY=$XAUTH" \
      --volume="$XAUTH:$XAUTH" \
      --rm $DOCKER_IMAGE_NAME