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Add Nvidia flag to Docker run script for toolkit support #840

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Add Nvidia flag to Docker run script for toolkit support #840

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19 changes: 16 additions & 3 deletions scripts/docker/run.sh
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Original file line number Diff line number Diff line change
Expand Up @@ -18,7 +18,7 @@
# under the License.

read -r -d '' usage_string <<EOF
usage: run.sh [-h] [-x] [-b] [-f] [-r] [-n] [-m] [-d]
usage: run.sh [-h] [-x] [-b] [-f] [-r] [-n] [-m] [-d] [-nv]
[-a "arg1" -a "arg2"]
-- [cmd [arg1] [arg2] ...]

Expand All @@ -32,6 +32,7 @@ usage: run.sh [-h] [-x] [-b] [-f] [-r] [-n] [-m] [-d]
-d or --dry-run: Just what commands would be run
-i or --image run a different image tag
-a or --args "arg1" --args "arg2": Pass extra args to sim
-nv or --nvidia: Use an Nvidia GPU with the container runtime

Run the specified command and args within a docker container.

Expand All @@ -57,7 +58,7 @@ usage()
######################################################################

shortopts="h,x,f,r,n,g:,m,d,i:,a:"
longopts="help,xenial,focal,remote,no-display,gpu:,mount,dry-run,image:,args:"
longopts="help,xenial,focal,remote,no-display,gpu:,mount,dry-run,image:,args:,nvidia"
opts=$(getopt -a -n run.sh --options "$shortopts" --longoptions "$longopts" -- "$@")
if [ $? -ne 0 ]; then
echo
Expand All @@ -76,10 +77,12 @@ eval set -- "$opts"
os=`cat /etc/os-release | grep -oP "(?<=VERSION_CODENAME=).*"`
sim_args="dds:=false robot:=sim_pub"
display="true"
if [[ $(lshw -C display | grep vendor) =~ Nvidia ]]; then
if [[ $(lshw -C display | grep vendor) =~ NVIDIA ]]; then
gpu="true"
nvidia="true"
else
gpu="false"
nvidia="false"
fi
mount="false"
tagrepo="astrobee"
Expand All @@ -103,6 +106,8 @@ while [ "$1" != "" ]; do
-g | --gpu) gpu="$2"
shift
;;
-nv | --nvidia ) nvidia="true" gpu="true"
;;
-m | --mount ) mount="true"
;;
-d | --dry-run ) dry_run="true"
Expand Down Expand Up @@ -152,6 +157,11 @@ if [ "$os" = "xenial" ]; then
tag=astrobee:latest-${image}ubuntu16.04
elif [ "$os" = "focal" ]; then
tag=astrobee:latest-${image}ubuntu20.04
else
echo "No docker image for OS '$os'. Use --xenial or --focal to pick one."
echo
usage
exit 1
fi

# check if local docker tag exists
Expand Down Expand Up @@ -186,6 +196,9 @@ if [ "$display" = "true" ]; then
if [ "$gpu" = "true" ]; then
display_args+=" --gpus all"
fi
if [ "$nvidia" = "true" ]; then
display_args+=" --runtime=nvidia -e NVIDIA_VISIBLE_DEVICES=all -e NVIDIA_DRIVER_CAPABILITIES=all -e __NV_PRIME_RENDER_OFFLOAD=1 -e __GLX_VENDOR_LIBRARY_NAME=nvidia"
fi
fi

######################################################################
Expand Down