Docker容器使用

开发环境-Docker部署

一、Docker安装

1、安装

curl -fsSL https://get.docker.com | bash -s docker --mirror Aliyun

2、验证

sudo docker run hello-world

3、设置权限

sudo usermod -aG docker your-user（将-user替换为用户名）

二、导入开发环境

加载镜像

sudo docker load --input l3plus-ubuntu18.04-cuda10.0.img

查看已导入镜像

hagan@hagan-Latitude:~$ docker images -a
输出：
REPOSITORY          TAG                    IMAGE ID            CREATED             SIZE
l3plus              ubuntu18.04-cuda10.0   82687ee88af5        42 minutes ago      16.6GB

使用镜像生成容器

步骤说明：相当于在下载了iso镜像后，创建虚拟机
期间配置相关共享目录和环境变量以实现与宿主机共享显示
-p: 端口映射；
-d: 后台运行容器；
-t: 为容器重新分配一个伪输入终端，通常与 -i 同时使用；
**–volume , -v: ** 绑定一个卷
-t: 为容器重新分配一个伪输入终端，通常与 -i 同时使用；
-w: 指定工作目录
-v: 挂载数据卷
-e: 设置env

	sudo docker run --privileged=true -p 6080:80 -p 5900:5900 -d -it -w /root/l3plus -v /etc/localtime:/etc/localtime:ro -v /tmp/.X11-unix:/tmp/.X11-unix -v /home/$USER:/root/data/$USER -e RESOLUTION=1920x1080 -e DISPLAY=unix$DISPLAY   -e GDK_SCALE   -e GDK_DPI_SCALE l3plus:ubuntu18.04-cuda10.0  /bin/bash

启动容器

$ docker ps -a
输出：
CONTAINER ID        IMAGE               COMMAND             CREATED             STATUS              PORTS                                          NAMES
55f7ccd8dff1        l3plus:ubuntu18.04-cuda10.0    "/bin/bash"         3 weeks ago         Up 5 days           0.0.0.0:5900->5900/tcp, 0.0.0.0:6080->80/tcp   zen_buck
--------------------------------------------------
hagan@hagan-Latitude:~$ docker start 55f7ccd8dff1
输出：
55f7ccd8dff1

创建容器终端

hagan@hagan-Latitude:~$ docker exec -it 55f7ccd8dff1 bash
输出：
root@55f7ccd8dff1:/#

三、共享显示

在宿主机新建终端并运行以下指令

sudo apt-get install x11-xserver-utils

xhost +

2、在Docker容器终端上输入

xarclock

四、docker l3plus 快速启动

设置l3plus环境变量

root@55f7ccd8dff1:/# cd /root/l3plus/ && colcon build && source install/setup.bash

l3plus 启动

root@55f7ccd8dff1:~/l3plus# ros2 launch quickstart quickstart.launch.py

五、docker其他使用

导入已有镜像

hagan@hagan-Latitude:~$ cat dftc_l3_env.tar | docker import - dftc_l3_env:base
输出：
sha256:162c629159aa150e2765f1b9e68773d0450fc142923c149ba3db0a53a61146bc

查看容器

hagan@hagan-Latitude:~$ docker ps -a
输出:
CONTAINER ID        IMAGE               COMMAND             CREATED             STATUS              PORTS                                          NAMES
55f7ccd8dff1        dftc_l3_env:base    "/bin/bash"         3 weeks ago         Up 5 days           0.0.0.0:5900->5900/tcp, 0.0.0.0:6080->80/tcp   zen_buck

退出容器终端

root@55f7ccd8dff1:~# exit

删除镜像

hagan@hagan-Latitude:~$ docker rmi dc4fd3f815e6

删除容器

hagan@hagan-Latitude:~$ docker stop 55f7ccd8dff1 &&  docker rm 55f7ccd8dff1

拷贝文件到docker:在宿主机新建终端并运行以下指令，将l3plus.tar.gz文件拷贝到docker的/root目录下

docker cp l3plus.tar.gz 55f7ccd8dff1:root

docker文件拷贝到主机:在宿主机新建终端并运行以下指令，将docker的/root目录下的l3plus.tar.gz文件拷贝到主机的home目录下

docker cp 55f7ccd8dff1:/root/l3plus.tar.gz  /home/

将容器存储为镜像

$ sudo docker commit -m <说明> -a <作者> <当前运行的container id> <仓库名称>:<tag>
$ sudo docker save -o <仓库名称>-<tag>.img <仓库名称>:<tag>
$ sudo docker commit -m "l3plus-ubuntu18.04-cuda10.0-pythorch1.4.0-tensorflow_gpu-2.3.0" -a "hegaozhi" 55f7ccd8dff1 l3plus:ubuntu18.04-cuda10.0
$ docker images -a
输出
REPOSITORY          TAG                    IMAGE ID            CREATED             SIZE
l3plus              ubuntu18.04-cuda10.0   82687ee88af5        39 minutes ago      16.6GB

将镜像存储为本地文件

sudo docker save -o l3plus-ubuntu18.04-cuda10.0.img l3plus:ubuntu18.04-cuda10.0

docker内 l3plus 环境部署

#/bin/bash
cp -a etc / -r
service udev reload
sleep 2
service udev restart

apt-get update
apt-get install zip -y
apt-key adv --recv-keys --keyserver keyserver.ubuntu.com F42ED6FBAB17C654
apt-key adv --recv-keys --keyserver keyserver.ubuntu.com F60F4B3D7FA2AF80
apt-get update
apt-get upgrade

apt install build-essential -y
apt install libncurses5-dev libgdbm-dev libnss3-dev libssl-dev libreadline-dev libffi-dev -y
apt install zlib1g-dev zip -y
apt install wget -y
apt install openssl vim -y
apt install curl git -y
apt install libsqlite3-dev -y
# wget https://www.python.org/ftp/python/3.6.9/Python-3.6.9.tgz
# tar -xvf Python-3.6.9.tgz
# cd Python-3.6.9
# ./configure --enable-loadable-sqlite-extensions --enable-shared CFLAGS=-fPIC
# make
# make install
# apt-get clean
# rm -rf /var/lib/apt/lists/*
# ln -s /usr/local/bin/pip3 /usr/bin/pip
# ln -s /usr/local/bin/python3 /usr/bin/python
pip3 install --upgrade pip -i https://pypi.tuna.tsinghua.edu.cn/simple


apt install libpcl-dev pcl-tools  -y 
apt install libpcap-dev libyaml-cpp-dev libyaml-dev -y 
apt install libgoogle-glog-dev -y 
pip3 install config -i https://pypi.tuna.tsinghua.edu.cn/simple

# ros2
locale-gen en_US en_US.UTF-8
update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
export LANG=en_US.UTF-8
apt update &&  apt install curl gnupg2 lsb-release
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc |  apt-key add -
sh -c 'echo "deb http://mirror.tuna.tsinghua.edu.cn/ros2/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list'
apt install ros-dashing-desktop -y
apt install libasio-dev ros-dashing-diagnostic-updater  -y 
apt install ros-dashing-rosbag2-test-common ros-dashing-sqlite3-vendor ros-dashing-rosbag2-storage ros-dashing-rosbag2-storage-default-plugins ros-dashing-ros2bag -y

pip3 --default-timeout=100 install --upgrade setuptools pandas
pip3 --default-timeout=100 install -i https://pypi.tuna.tsinghua.edu.cn/simple Cython matplotlib>=2.1.1  numpy>=1.13.3 opencv-python>=3.4.6 PyYAML pillow pandas glog scipy
pip3 --default-timeout=100 install -i https://pypi.tuna.tsinghua.edu.cn/simple easydict opencv-python numpy scikit-learn catkin_pkg empy lark shapely tqdm mayavi
pip3 --default-timeout=100 install -i https://pypi.tuna.tsinghua.edu.cn/simple  joblib==0.10.3 Pillow==4.0.0 tensorflow-gpu==1.15.4   -y
pip3 --default-timeout=100 install torch==1.6.0+cu101 torchvision==0.7.0+cu101 -f https://download.pytorch.org/whl/torch_stable.html

apt install python3-colcon-common-extensions -y 
apt install libcanberra-gtk-module libopencv-dev  -y 
apt install python-catkin-tools  -y