AirSim Dockerfile

Dockerfile_binary

ARG BASE_IMAGE=nvidia/cudagl:10.0-devel-ubuntu18.04
FROM $BASE_IMAGE

# NVIDIA packages workaround. 
# Reason: https://forums.developer.nvidia.com/t/notice-cuda-linux-repository-key-rotation/212772
COPY cuda-keyring_1.0-1_all.deb .
RUN apt-key del 7fa2af80
RUN rm /etc/apt/sources.list.d/cuda.list && rm /etc/apt/sources.list.d/nvidia-ml.list
RUN dpkg -i cuda-keyring_1.0-1_all.deb

RUN DEBIAN_FRONTEND=noninteractive apt-get update && apt-get install -y --no-install-recommends \
	python3 \
	python3-pip \
	sudo \
	libglu1-mesa-dev \
	xdg-user-dirs \
	pulseaudio \
	x11-xserver-utils

RUN packages='libsdl2-2.0-0 libsdl2-dev xserver-xorg libvulkan1 libvulkan-dev' \
       && apt-get update && DEBIAN_FRONTEND=noninteractive apt-get install -y $packages --no-install-recommends \
       && VULKAN_API_VERSION=`dpkg -s libvulkan1 | grep -oP 'Version: [0-9|\.]+' | grep -oP '[0-9|\.]+'` && \
	mkdir -p /etc/vulkan/icd.d/ && \
	echo \
	"{\
		\"file_format_version\" : \"1.0.0\",\
		\"ICD\": {\
			\"library_path\": \"libGLX_nvidia.so.0\",\
			\"api_version\" : \"${VULKAN_API_VERSION}\"\
		}\
	}" > /etc/vulkan/icd.d/nvidia_icd.json \
	&& rm -rf /var/lib/apt/lists/*

RUN python3 -m pip install --upgrade wheel pip setuptools && \
	pip3 install numpy msgpack-rpc-python && \
  pip3 install airsim

RUN adduser --force-badname --disabled-password --gecos '' --shell /bin/bash airsim_user && \
	echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers && \
	adduser airsim_user sudo && \
	adduser airsim_user audio && \
	adduser airsim_user video

USER airsim_user
WORKDIR /home/airsim_user

RUN mkdir -p /home/airsim_user/Documents/AirSim
COPY settings.json /home/airsim_user/Documents/AirSim
#ADD Documents /home/airsim_user/Documents

RUN sudo chown -R airsim_user /home/airsim_user

run_airsim_image_binary.sh

#!/bin/bash
DOCKER_IMAGE_NAME=$1

# get the base directory name of the unreal binary's shell script
# we'll mount this volume while running docker container
UNREAL_BINARY_PATH=$(dirname $(readlink -f $2))
UNREAL_BINARY_SHELL_ABSPATH=$(readlink -f $2)

# This is to determine Docker version for the command
version_less_than_equal_to() { test "$(printf '%s\n' "$@" | sort -V | head -n 1)" = "$1"; }

REQ_DOCKER_VERSION=19.03
docker_version=$(docker -v | cut -d ' ' -f3 | sed 's/,$//')

if version_less_than_equal_to $REQ_DOCKER_VERSION $docker_version; then
    # Use the normal docker command
    DOCKER_CMD="docker run"
else
    # Use nvidia-docker
    DOCKER_CMD="nvidia-docker run --runtime=nvidia"
fi

# this block is for running X apps in docker
XAUTH=/tmp/.docker.xauth
if [ ! -f $XAUTH ]
then
    xauth_list=$(xauth nlist :0 | sed -e 's/^..../ffff/')
    if [ ! -z "$xauth_list" ]
    then
        echo $xauth_list | xauth -f $XAUTH nmerge -
    else
        touch $XAUTH
    fi
    chmod a+r $XAUTH
fi

# this are the first (maximum) four arguments which the user specifies:
# ex: ./run_airsim_image.sh /PATH/TO/UnrealBinary/UnrealBinary.sh -windowed -ResX=1080 -ResY=720
# we save them in a variable right now:  
UNREAL_BINARY_COMMAND="$UNREAL_BINARY_SHELL_ABSPATH $3 $4 $5"

# now let's check if user specified  an "-- headless" parameter in the end
# we'll set SDL_VIDEODRIVER_VALUE to '' if it wasn't specified, 'offscreen' if it was
SDL_VIDEODRIVER_VALUE='';
while [ -n "$1" ]; do
    case "$1" in
    --)
        shift 
        break
        ;; 
    esac
    shift
done
 
for param in $@; do
    case "$param" in
    headless) SDL_VIDEODRIVER_VALUE='offscreen' ;;
    esac
done

# now, let's mount the user directory which points to the unreal binary (UNREAL_BINARY_PATH)
# set the environment varible SDL_VIDEODRIVER to SDL_VIDEODRIVER_VALUE
# and tell the docker container to execute UNREAL_BINARY_COMMAND
$DOCKER_CMD -it \
    -v $(pwd)/settings.json:/home/airsim_user/Documents/AirSim/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" \
    --runtime=nvidia \
    --device /dev/dri \
    --gpus 'all,"capabilities=compute,utility,graphics,display"' \
    --rm \
    $DOCKER_IMAGE_NAME \
    /bin/bash -c "$UNREAL_BINARY_COMMAND"