Linux 中 Docker 上的 AirSim#

我们有 2 种 Docker 选项。您可以构建镜像来运行 AirSim Linux 二进制文件，也可以从源代码编译虚幻引擎 + AirSim。

二进制文件#

要求：#

安装 nvidia-docker2

构建 docker 镜像#

以下是默认参数。

--base_image: 这是我们将安装 airsim 的镜像。我们已经在 Ubuntu 18.04 和 CUDA 10.0 上测试过。您可以自行承担风险，指定任何 NVIDIA cudagl 版本。

--target_image 是你的 Docker 镜像的名称。默认为 airsim_binary，标签与基础镜像相同。

$ cd Airsim/docker;
$ python build_airsim_image.py \
   --base_image=nvidia/cudagl:10.0-devel-ubuntu18.04 \
   --target_image=airsim_binary:10.0-devel-ubuntu18.04

通过以下方式验证您是否有镜像： $ docker images | grep airsim

在 Docker 容器内运行虚幻二进制文件#

获取 Linux 二进制文件或在 Ubuntu 中打包你自己的项目。我们以 Blocks 二进制文件为例。你可以运行以下命令下载它：

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

修改它以获取所需的特定二进制文件。

在 Docker 容器内运行虚幻二进制文件。语法如下：

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

对于 Blocks，您可以执行 $ ./run_airsim_image_binary.sh airsim_binary:10.0-devel-ubuntu18.04 Blocks/Blocks.sh -windowed -ResX=1080 -ResY=720

DOCKER_IMAGE_NAME: 与上一步 target_image 参数相同，默认输入 airsim_binary:10.0-devel-ubuntu18.04
UNREAL_BINARY_SHELL_SCRIPT: 对于 Blocks 环境，它将是 Blocks/Blocks.sh
UNREAL_BINARY_ARGUMENTS: 对于 airsim 来说，最相关的选项是 -windowed, -ResX, -ResY。点击链接查看所有选项。

无头模式下运行：最后的后缀为 -- headless：

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

指定 settings.json

Source#

Requirements:#

Install nvidia-docker2
Install ue4-docker

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:
- The unreal images and containers can take up a lot of space, especially if you try more than one version.
- Here's a list of useful links to monitor space used by docker and clean up intermediate builds:

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 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 --runtime=nvidia -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" \
      --rm \
      $DOCKER_IMAGE_NAME \
      /bin/bash -c "$UNREAL_BINARY_COMMAND"

Note: Docker version >=19.03 (check using docker -v), natively supports Nvidia GPUs, so run using --gpus all flag as given -

docker run --gpus all -it \
    ...

`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 --runtime=nvidia -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" \
      --rm \
   $DOCKER_IMAGE_NAME