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AirSim on Docker in Linux

We've two options for docker. You can either build an image for running airsim linux binaries, or for compiling Unreal Engine + AirSim from source

Binaries

Requirements:

Build the docker image

  • Below are the default arguments.
    --base_image: This is image over which we'll install airsim. We've tested on Ubuntu 16.04 + CUDA 10.0.
    You can specify any NVIDIA cudagl at your own risk.
    --target_image is the desired name of your docker image.
    Defaults to airsim_binary with same tag as the base image

    $ cd Airsim/docker;
$ python build_airsim_image.py \
   --base_image=nvidia/cudagl:10.0-devel-ubuntu16.04 \
   --target_image=airsim_binary:10.0-devel-ubuntu16.04

  • Verify you have an image by: $ docker images | grep airsim

Running an unreal binary inside a docker container

  • Get an unreal binary or package your own project in Ubuntu.
    Let's take the Blocks binary as an example.
    You can download it by running

    $ cd Airsim/docker;
$ ./download_blocks_env_binary.sh

  • Running an unreal binary inside a docker container The syntax is:

     $ ./run_airsim_image_binary.sh DOCKER_IMAGE_NAME UNREAL_BINARY_SHELL_SCRIPT UNREAL_BINARY_ARGUMENTS -- headless

    For blocks, you can do a $ ./run_airsim_image_binary.sh airsim_binary:10.0-devel-ubuntu16.04 Blocks/Blocks.sh -windowed -ResX=1080 -ResY=720

    • DOCKER_IMAGE_NAME: Same as target_image parameter in previous step. By default, enter airsim_binary:10.0-devel-ubuntu16.04

    • UNREAL_BINARY_SHELL_SCRIPT: for Blocks enviroment, it will be Blocks/Blocks.sh

    • UNREAL_BINARY_ARGUMENTS: For airsim, most relevant would be -windowed, -ResX, -ResY. Click on link to see all options.

    • Running in Headless mode:
      Suffix -- headless at the end:

      $ ./run_airsim_image_binary.sh Blocks/Blocks.sh -- headless

  • Specifying a settings.json

Source

Requirements:

Build Unreal Engine inside docker:

  • To get access to Unreal Engine's source code, register on Epic Games' website and link it to your github account, as explained in the Required Steps section here.
    Note that you don't need to do Step 2: Downloading UE4 on Linux!

  • Build unreal engine 4.19.2 docker image. We're going to use CUDA 10.0 in our example.
    $ ue4-docker build 4.19.2 --cuda=10.0 --no-full
    [optional] $ ue4-docker clean to free up some space. Details here

    • ue4-docker supports all CUDA version listed on NVIDIA's cudagl dockerhub here.
    • Please see this page for advanced configurations using ue4-docker

  • Disk space:

Building AirSim inside UE4 docker container:

  • Build AirSim docker image (which lays over the unreal image we just built)
    Below are the default arguments.
    --base_image: This is image over which we'll install airsim. We've tested on adamrehn/ue4-engine:4.19.2-cudagl10.0. See ue4-docker for other versions.
    --target_image is the desired name of your docker image.
    Defaults to airsim_source with same tag as the base image 
    $ cd Airsim/docker;
$ python build_airsim_image.py \
   --source \
   ----base_image adamrehn/ue4-engine:4.19.2-cudagl10.0 \
   --target_image=airsim_source:4.19.2-cudagl10.0

Running AirSim container

  • Run the airsim source image we built by:

       ./run_airsim_image_source.sh airsim_source:4.19.2-cudagl10.0

    Syntax is ./run_airsim_image_source.sh DOCKER_IMAGE_NAME -- headless -- headless: suffix this to run in optional headless mode.

  • Inside the container, you can see UnrealEngine and AirSim under /home/ue4.

  • Start unreal engine inside the container:
    ue4@HOSTMACHINE:~$ /home/ue4/UnrealEngine/Engine/Binaries/Linux/UE4Editor

  • Specifying an airsim settings.json

  • Continue with AirSim's Linux docs.

[Misc] Packaging Unreal Environments in airsim_source containers

  • Let's take the Blocks environment as an example.
    In the following script, specify the full path to your unreal uproject file by project and the directory where you want the binaries to be placed by archivedirectory

    $ /home/ue4/UnrealEngine/Engine/Build/BatchFiles/RunUAT.sh BuildCookRun -platform=Linux -clientconfig=Shipping -serverconfig=Shipping -noP4 -cook -allmaps -build -stage -prereqs -pak -archive \
-archivedirectory=/home/ue4/Binaries/Blocks/ \
-project=/home/ue4/AirSim/Unreal/Environments/Blocks/Blocks.uproject

    This would create a Blocks binary in /home/ue4/Binaries/Blocks/.
    You can test it by running /home/ue4/Binaries/Blocks/LinuxNoEditor/Blocks.sh -windowed

Specifying an airsim settings.json

airsim_binary docker image:

  • We're mapping the host machine's PATH/TO/Airsim/docker/settings.json to the docker container's /home/airsim_user/Documents/AirSim/settings.json.
  • Hence, we can load any settings file by simply modifying PATH_TO_YOUR/settings.json by modifying the following snippets in * run_airsim_image_binary.sh 
    nvidia-docker run -it \
    -v $PATH_TO_YOUR/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 \
    --rm \
    $DOCKER_IMAGE_NAME \
    /bin/bash -c "$UNREAL_BINARY_COMMAND"

airsim_source docker image:

  • We're mapping the host machine's PATH/TO/Airsim/docker/settings.json to the docker container's /home/airsim_user/Documents/AirSim/settings.json.
  • Hence, we can load any settings file by simply modifying PATH_TO_YOUR/settings.json by modifying the following snippets in run_airsim_image_source.sh: 
    nvidia-docker run -it \
    -v $(pwd)/settings.json:/home/airsim_user/Documents/AirSim/settings.json \
    -e SDL_VIDEODRIVER=$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 \
    --rm \
$DOCKER_IMAGE_NAME