{"id":244,"date":"2025-03-04T11:45:39","date_gmt":"2025-03-04T03:45:39","guid":{"rendered":"http:\/\/cennum.top\/?p=244"},"modified":"2025-05-31T02:13:09","modified_gmt":"2025-05-30T18:13:09","slug":"%e5%9c%a8ubuntu%e4%b8%ad%e4%bd%bf%e7%94%a8docker%e5%8a%a0%e8%bd%bd%e5%ae%98%e6%96%b9%e7%9a%84%e6%af%94%e8%b5%9b%e4%bb%bf%e7%9c%9f","status":"publish","type":"post","link":"https:\/\/cennum.top\/index.php\/2025\/03\/04\/%e5%9c%a8ubuntu%e4%b8%ad%e4%bd%bf%e7%94%a8docker%e5%8a%a0%e8%bd%bd%e5%ae%98%e6%96%b9%e7%9a%84%e6%af%94%e8%b5%9b%e4%bb%bf%e7%9c%9f\/","title":{"rendered":"\u5728ubuntu\u4e2d\u4f7f\u7528docker\u52a0\u8f7d\u5b98\u65b9\u7684\u6bd4\u8d5b\u4eff\u771f\u73af\u5883\u8d44\u6e90\u5305"},"content":{"rendered":"\n

1.\u5b89\u88c5docker <\/h2>\n\n\n\n

x86\u67b6\u6784\u684c\u9762\u7248ubuntu\u5efa\u8bae\u5b89\u88c5docker desktop<\/p>\n\n\n\n

–\u8bbf\u95ee<\/strong>https:\/\/docs.docker.com\/desktop\/setup\/install\/linux\/https:\/\/docs.docker.com\/desktop\/setup\/install\/linux\/ubuntu\/<\/a><\/p>\n\n\n\n

\"\"<\/figure>\n\n\n\n

\u5b89\u88c5\u5b98\u65b9\u6307\u5f15\u5b89\u88c5docker desktop<\/p>\n\n\n\n

2.\u4e0b\u8f7d\u5b98\u65b9\u6bd4\u8d5b\u4eff\u771f\u73af\u5883\u8d44\u6e90\u5305<\/h2>\n\n\n\n

https:\/\/pan.educg.net\/s\/yzOgsO<\/a><\/p>\n\n\n\n

<\/p>\n\n\n\n

3.\u4f7f\u7528docker\u52a0\u8f7d\u6bd4\u8d5b\u4eff\u771f\u73af\u5883\u8d44\u6e90\u5305<\/h2>\n\n\n\n

-\u627e\u5230\u4e0b\u8f7d\u597d\u8d44\u6e90\u5305\u7684\u76ee\u5f55\u4e0b\uff0c\u6253\u5f00\u7ec8\u7aef<\/p>\n\n\n\n

docker\u52a0\u8f7d\u547d\u4ee4\uff0c\u6ce8\u610f\u8be5\u76ee\u5f55\u4e0b\u9700\u8981\u5305\u542b\u4e0a\u9762\u4e0b\u8f7d\u7684cyberdog_sim.tar\u6587\u4ef6<\/p>\n\n\n\n

docker load -i cyberdog_sim.tar<\/code><\/pre>\n\n\n\n
4.\u8fd0\u884c\u955c\u50cf<\/h2>\n\n\n\n
–\u76f4\u63a5\u8fd0\u884c\u955c\u50cf<\/p>\n\n\n\n
docker run -it cyberdog_sim:v2 bash<\/code><\/pre>\n\n\n\n
–\u4f7f\u7528x11\u5957\u63a5\u5b57\u6a21\u5f0f\u8fd0\u884c\u955c\u50cf\u4f7f\u8ba9 GUI \u663e\u793a Gazebo\u3001Rviz<\/p>\n\n\n\n
sudo docker run -it --privileged=true -e DISPLAY=$DISPLAY -v \/tmp\/.X11-unix:\/tmp\/.X11-unix cyberdog_sim:v2<\/code><\/pre>\n\n\n\n
5.\u4f7f\u7528vscode\u6253\u5f00\u955c\u50cf\u91cc\u9762\u7684\u6587\u4ef6<\/h2>\n\n\n\n
–\u5728 VSCode \u5b89\u88c5 Remote – Containers \u63d2\u4ef6<\/strong>\u3002<\/p>\n\n\n\n
–\u8fdb\u5165\u4f60\u7684 Docker \u5bb9\u5668\u547d\u4ee4\u884c<\/strong><\/p>\n\n\n\n
    <\/ol>\n\n\n\n
    –-\u5bbf\u4e3b\u673a\u7ec8\u7aef\u4e2d\u67e5\u770b\u4f60\u7684\u5bb9\u5668 ID \u6216\u540d\u79f0<\/strong><\/p>\n\n\n\n
    docker ps<\/code><\/pre>\n\n\n\n
    \u6216\u8005\u5728docker desktop\u67e5\u770b<\/p>\n\n\n\n
    \"\"<\/figure>\n\n\n\n
    —\u6253\u5f00vscode<\/strong><\/p>\n\n\n\n
    \u5728vscode\u754c\u9762\u4e2d\u4f7f\u7528\u5feb\u6377\u952eshift+ctrl+p<\/p>\n\n\n\n
    \u8f93\u5165\u518d\u56de\u8f66<\/p>\n\n\n\n
    Remote-Containers: Attach to Running Container<\/code><\/pre>\n\n\n\n
    –\u9009\u62e9\u6253\u5f00\u7684\u4e0b\u62c9\u83dc\u5355\u4e2d\u4f60\u7684docker\u540d\u5b57<\/p>\n\n\n\n
    6.\u914d\u7f6ex11 \uff0c\u8ba9 GUI \u663e\u793a Gazebo\u3001Rviz<\/h2>\n\n\n\n
    –-\u6ce8\u610f\u6253\u5f00\u4f60\u7684\u5bb9\u5668\u65f6\u4e00\u5b9a\u8981\u4f7f\u7528\u4e0b\u9762\u8fd9\u6761\u547d\u4ee4\u6253\u5f00<\/strong><\/p>\n\n\n\n
    sudo docker run -it --privileged=true -e DISPLAY=$DISPLAY -v \/tmp\/.X11-unix:\/tmp\/.X11-unix cyberdog_sim:v2<\/code><\/pre>\n\n\n\n
    \u8fd9\u4e00\u6761docker\u6253\u5f00\u547d\u4ee4\u5c06docker\u5185\u7684\u663e\u793a\u6620\u5c04\u5230\u672c\u5730<\/p>\n\n\n\n
    –\u5728\u5bbf\u4e3b\u673a\u4e2d\u8f93\u5165\u5f00\u653e\u6743\u9650<\/p>\n\n\n\n
    xhost +<\/code><\/pre>\n\n\n\n
    7.\u8fd0\u884cgazebo<\/h2>\n\n\n\n
    \u8fdb\u5165\u4eff\u771f\u7a0b\u5e8f\u6240\u5728\u76ee\u5f55<\/p>\n\n\n\n
    cd \/home\/cyberdog_sim<\/code><\/pre>\n\n\n\n
    \u8fd0\u884claunch\u6587\u4ef6<\/p>\n\n\n\n
    python3 src\/cyberdog_simulator\/cyberdog_gazebo\/script\/launchsim.py<\/code><\/pre>\n\n\n\n
    \u6309\u9053\u7406\u6765\u8bb2\u5e94\u8be5\u5c31\u6253\u5f00gazebo\u4e86<\/p>\n","protected":false},"excerpt":{"rendered":"
    1.\u5b89\u88c5docker x86\u67b6\u6784\u684c\u9762\u7248ubuntu …<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[2],"tags":[14],"class_list":["post-244","post","type-post","status-publish","format-standard","hentry","category-linux","tag-docker"],"_links":{"self":[{"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/posts\/244","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/comments?post=244"}],"version-history":[{"count":4,"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/posts\/244\/revisions"}],"predecessor-version":[{"id":310,"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/posts\/244\/revisions\/310"}],"wp:attachment":[{"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/media?parent=244"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/categories?post=244"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/cennum.top\/index.php\/wp-json\/wp\/v2\/tags?post=244"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}