erl_toolkit

CLI for Existential Robotics Laboratory

Dependencies

• Docker
• nvidia-docker2 (nvidia-container-toolkit)
• pip3

# for Ubuntu
sudo apt-get update
sudo apt-get install ca-certificates curl gnupg
sudo install -m 0755 -d /etc/apt/keyrings
curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo gpg --dearmor -o /etc/apt/keyrings/docker.gpg
sudo chmod a+r /etc/apt/keyrings/docker.gpg
echo \
  "deb [arch="$(dpkg --print-architecture)" signed-by=/etc/apt/keyrings/docker.gpg] https://download.docker.com/linux/ubuntu \
    "$(. /etc/os-release && echo "$VERSION_CODENAME")" stable" | \
      sudo tee /etc/apt/sources.list.d/docker.list > /dev/null
sudo apt-get update
sudo apt-get install docker-ce docker-ce-cli containerd.io docker-buildx-plugin docker-compose-plugin

distribution=$(. /etc/os-release;echo $ID$VERSION_ID) \
    && 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/$distribution/libnvidia-container.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 install nvidia-container-toolkit
sudo nvidia-ctk runtime configure --runtime=docker
sudo systemctl restart docker

# for ArchLinux
sudo pacman -S docker docker-buildx
paru -S nvidia-docker
sudo nvidia-ctk runtime configure --runtime=docker
sudo systemctl restart docker

Test installation:

sudo docker run --rm --runtime=nvidia --gpus all nvidia/cuda:11.6.2-base-ubuntu20.04 nvidia-smi

Patches

For all Linux distributions, in order to use docker without sudo, we need to run:

sudo usermod -aG docker $USER
newgrp docker  # or reboot your computer

For ArchLinux, you need to apply the following patches. Create two files:

• /etc/systemd/system/docker.service.d/override.conf
• /etc/systemd/system/containerd.service.d/override.conf

Each file has the following content:

[Service]
LimitNOFILE=1048576

Then run sudo systemctl daemon-reload and reboot your computer.

Install

pip install . --user   # For ArchLinux, add --break-system-packages

Export $HOME/.local/bin to the PATH environment variable:

export PATH="$HOME/.local/bin:$PATH"

Usage

• erl-docker-build-images: build all images
• erl-docker-create-container:

  usage: erl-docker-create-container [-h] --name CONTAINER_NAME --image IMAGE [--gpu] [--dev] [--gui] [--command COMMAND] [--user USER] [--overwrite-entrypoint] [--mounts MOUNTS]
  
  options:
    -h, --help            show this help message and exit
    --name CONTAINER_NAME
    --image IMAGE
    --gpu                 Connect all GPUs to the container
    --dev                 Connect all devices to the container
    --gui                 Connect DISPLAY to the container
    --command COMMAND
    --user USER           Default: xxxx
    --overwrite-entrypoint
    --mounts MOUNTS       Mount host directory to container

• erl-docker-login-container:

  usage: erl-login-container [-h] --name CONTAINER_NAME [--user USER] [--shell SHELL]
  
  options:
    -h, --help            show this help message and exit
    --name CONTAINER_NAME
    --user USER
    --shell SHELL         Default: /usr/bin/zsh

• erl-docker-clean-docker: remove stopped containers and redundant image layers.
• erl-archlinux-ros-noetic-install: install or fix ros-noetic-desktop-full for ArchLinux.

  usage: erl-archlinux-ros-noetic-install [-h] [--start-from PACKAGES [PACKAGES ...]]
  
  Install/fix ros-noetic-desktop-full and its dependencies.
  
  options:
    -h, --help            show this help message and exit
    --start-from PACKAGES [PACKAGES ...]
                          Start the installation from these packages, and install other packages requiring them.
  

• erl-archlinux-paru-helper: a tool to help you resolve AUR package issues.

  usage: erl-archlinux-paru-helper [--help] COMMAND ...
  
  paru helper
  
  positional arguments:
    COMMAND     Options: dump-required-dependencies
  
  options:
    --help, -h  show this help message and exit
  
  Command: dump-required-dependencies
  usage: erl-archlinux-paru-helper dump-required-dependencies [-h] [--sink-packages PACKAGES [PACKAGES ...]] [--is-sink-package LAMBDA_EXPRESSION] [--ignore-packages PACKAGES [PACKAGES ...]] [--output-format {raw,yaml}] package_name
  
  positional arguments:
    package_name
  
  options:
    -h, --help            show this help message and exit
    --sink-packages PACKAGES [PACKAGES ...]
                          Initial sink packages, dependency search will stop when these packages are hit.
    --is-sink-package LAMBDA_EXPRESSION
                          lambda expression to determine whether a package is a sink package.
    --ignore-packages PACKAGES [PACKAGES ...]
                          Ignore these packages. They will not be in the result.
    --output-format {raw,yaml}
                          Output format.
  

FAQ

Strange cursor position when the last command returns error in zsh

This is already fixed by updating the dockerfiles. But if you do not want to rebuild all the images. You can run the following commands in your current container:

sudo apt update
sudo apt install locales
sudo sed -i '/en_US.UTF-8/s/^# //g' /etc/locale.gen
sudo locale-gen
export LANG en_US.UTF-8
export LANGUAGE en_US.UTF-8
export LC_ALL en_US.UTF-8