Davide Iafrate Tuxliri

Xorg/X11 forwarding on macOS and docker

In order to run Xorg apps on macOS you will need to install xquartz:

brew install --cask --no-quarantine xquartz

And then configure it

README

My ROS 2 and Gazebo Docker setup. This can be extended or used an example for other Docker containers that want to use graphics and have persistent volumes.

Features

Run Gazebo and ROS 2 in a Docker container
Persistent workspace
Graphics support

X11 forwarding on macOS and docker

A quick guide on how to setup X11 forwarding on macOS when using docker containers requiring a DISPLAY. Works on both Intel and M1 macs!

This guide was tested on:

macOS Catalina 10.15.4
docker desktop 2.2.0.5 (43884) - stable release
XQuartz 2.7.11 (xorg-server 1.18.4)
Macbook Pro (Intel)

Duckietown Specific:

Old docs (better setup descriptions)

	#Include this at the top of your colab code
	import os
	if not os.path.exists('.mujoco_setup_complete'):
	# Get the prereqs
	!apt-get -qq update
	!apt-get -qq install -y libosmesa6-dev libgl1-mesa-glx libglfw3 libgl1-mesa-dev libglew-dev patchelf
	# Get Mujoco
	!mkdir ~/.mujoco
	!wget -q https://mujoco.org/download/mujoco210-linux-x86_64.tar.gz -O mujoco.tar.gz
	!tar -zxf mujoco.tar.gz -C "$HOME/.mujoco"

	#!/bin/bash

	URL=$1
	DOMAIN=$(echo "$URL" \| awk -F[/:] '{print $4}')

	## Domain starts with
	if [[ $DOMAIN =~ $(echo ^\($(paste -sd'\|' /home/your-user/.config/url-start.txt)\)$) ]]; then
	chromium-browser "$URL" & disown
	elif [[ $DOMAIN =~ $(echo ^\($(paste -sd'\|' /home/your-user/.config/url-is.txt)\)$) ]]; then
	firefox "$URL" & disown