-
克隆本仓库
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解压
yj10_ws_resources.tar.xz：# 将 /path/to/repo 换成仓库路径（和-C之间不要加空格） # 例如 tar -xaf yj10_ws_resources.tar.xz -Cyj10_ws tar -xaf yj10_ws_resources.tar.xz -C/path/to/repo
解压后仓库中应该会多两个文件夹：
- grasp_model
- models
目录结构应该如下：
yj10_ws ├── grasp_model ├── models ├── readme.md ├── run_grasp_model_docker.sh ├── yj10_grpc_ws └── yj10_ros_ws -
安装 gazebo 模型文件：将 models 复制到 ~/.gazebo/ 下:
cd yj10_ws cp -r models ~/.gazebo/
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进入 yj10_grpc_ws，按照该文件夹下的 readme.md 编译安装 gRPC 相关库
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进入 yj10_ros_ws，按照该文件夹下的 readme.md 构建 ros 工作空间
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配置 grasp_model docker（见下）
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安装 docker
curl -fsSL https://get.docker.com -o get-docker.sh sudo sh get-docker.sh
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使 docker 命令不需要 root 运行
sudo groupadd docker sudo usermod -aG docker $USER -
Log out and log back in so that your group membership is re-evaluated.
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Test your docker installation
docker run hello-world
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安装 Nvidia Container Toolkit：
从 NVIDIA 官方安装文档截取的安装命令：
# Installing Nvidia Container Toolkit with Apt curl -fsSL https://nvidia.github.io/libnvidia-container/gpgkey | sudo gpg --dearmor -o /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg \ && curl -s -L https://nvidia.github.io/libnvidia-container/stable/deb/nvidia-container-toolkit.list | \ sed 's#deb https://#deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://#g' | \ sudo tee /etc/apt/sources.list.d/nvidia-container-toolkit.list sudo apt-get update sudo apt-get install -y nvidia-container-toolkit # Configuring Docker sudo nvidia-ctk runtime configure --runtime=docker sudo systemctl restart docker
官方安装文档 https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html
# 将 /path/to/grasp_model_he_docker.tar.xz 换成对应路径
xz -dvc /path/to/grasp_model_he_docker.tar.xz | docker loaddocker images应该会输出：
REPOSITORY TAG IMAGE ID CREATED SIZE
...
grasp_model_he latest 2d6faf0fd876 28 minutes ago 17.8GB
...