Running CARLA in a Docker
This tutorial is designed for:
- People that want to run CARLA without needing to install all dependencies
- Recommended solution to run multiple CARLA servers and perform GPU mapping
- People who don't need to render the full simulation (the server is headless)
This tutorial was tested in Ubuntu 16.04 and using NVIDIA 396.37 drivers. This method requires a version of NVIDIA drivers >=390.
Docker requires sudo to run. Follow this guide to add users to the docker sudo group https://docs.docker.com/install/linux/linux-postinstall/
For our tests we used the Docker CE version. To install Docker CE we recommend using this tutorial
To install nvidia-docker-2 we recommend using the "Quick Start" section from the nvidia-dockers github.
Getting it Running
Pull the CARLA image.
docker pull carlasim/carla:version
For selecting a version, for instance, version 0.8.2 (stable), do:
docker pull carlasim/carla:0.8.2
Running CARLA under docker:
docker run -p 2000-2002:2000-2002 --runtime=nvidia -e NVIDIA_VISIBLE_DEVICES=0 carlasim/carla:0.8.4
-p 2000-2002:2000-2002 argument is to redirect host ports for the docker container.
NVIDIA_VISIBLE_DEVICES=<gpu_number> to select the GPU.
You can also pass parameters to the CARLA executable. With this you can chose the town and select the port that is going to be used:
docker run -p 2000-2002:2000-2002 --runtime=nvidia -e NVIDIA_VISIBLE_DEVICES=0 carlasim/carla:0.8.4 /bin/bash CarlaUE4.sh < Your list of parameters >
At the list of parameters do not forget to add
-world-port=<port_number> so that CARLA runs on server mode
listening to the