Merge pull request #43 from fbrand-new/develop

Ros2 isolation and Openpose dockerfile temp fix
hsp-iit · Oct 12, 2023 · 099dcfd · 099dcfd
2 parents 888a0b6 + 5d9d3f4
commit 099dcfd
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Showing 3 changed files with 8 additions and 3 deletions.
diff --git a/docker_stuff/docker_mng_vars.sh b/docker_stuff/docker_mng_vars.sh
@@ -8,3 +8,4 @@ STABLE_SUFFIX="stable"
 REPO_DEF="elandini84/r1images"
 JUNCTION="_"
 REPO_SEP=":"
+ROS_DOMAIN_ID=37 #The number should be between 0-101 (https://docs.ros.org/en/iron/Concepts/Intermediate/About-Domain-ID.html#overview)
diff --git a/docker_stuff/docker_openPose/Dockerfile b/docker_stuff/docker_openPose/Dockerfile
@@ -53,7 +53,11 @@ RUN git clone https://github.com/CMU-Perceptual-Computing-Lab/openpose && \
 RUN cd $user1_home/openpose && \
     mkdir build && \
     cd ./build && \
-    cmake .. -DDOWNLOAD_HAND_MODEL=OFF -DUSE_CUDNN=OFF && \
+    # Right now the following does not work. 
+    # https://github.com/CMU-Perceptual-Computing-Lab/openpose/issues/2233
+    # You have to download the weights manually
+    # cmake .. -DDOWNLOAD_HAND_MODEL=OFF -DUSE_CUDNN=OFF && \
+    cmake .. -DDOWNLOAD_HAND_MODEL=OFF -DDOWNLOAD_BODY_25_MODEL=OFF -DDOWNLOAD_FACE_MODEL=OFF -DUSE_CUDNN=OFF && \
     make -j11
 ENV openpose_ROOT=$user1_home/openpose
 

diff --git a/docker_stuff/docker_sim2/manage-docker.sh b/docker_stuff/docker_sim2/manage-docker.sh
@@ -156,9 +156,9 @@ if [[ $GONNA_BUILD == "true" ]]; then
 else
     sudo xhost +
     if [[ $RUN_WITH_GPU == "true" ]]; then
-        sudo docker run --rm -it --privileged --network host --pid host -e NVIDIA_DRIVER_CAPABILITIES=all -e DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix -e QT_X11_NO_MITSHM=1 --gpus all $COMPLETE_IMAGE_NAME
+        sudo docker run --rm -it --privileged --network host --pid host -e NVIDIA_DRIVER_CAPABILITIES=all -e DISPLAY -e ROS_DOMAIN_ID=${ROS_DOMAIN_ID} -v /tmp/.X11-unix:/tmp/.X11-unix -e QT_X11_NO_MITSHM=1 --gpus all $COMPLETE_IMAGE_NAME
     elif [[ $RUN_WITH_GPU == "false" && $IMAGE == $UBUNTU_DEF ]]; then
-        sudo docker run --rm -it --privileged --network host --pid host -e DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix -e QT_X11_NO_MITSHM=1 $COMPLETE_IMAGE_NAME
+        sudo docker run --rm -it --privileged --network host --pid host -e DISPLAY -e ROS_DOMAIN_ID=${ROS_DOMAIN_ID} -v /tmp/.X11-unix:/tmp/.X11-unix -e QT_X11_NO_MITSHM=1 $COMPLETE_IMAGE_NAME
     else
         echo "ERROR: You cannot run a nVidia based image without gpu support"
     fi