{"id":35345,"date":"2023-12-01T18:36:12","date_gmt":"2024-03-06T23:33:16","guid":{"rendered":"https:\/\/www.silicloud.com\/zh\/blog\/%e4%bd%bfterminator%e5%9c%a8docker%e7%8e%af%e5%a2%83%e4%b8%ad%e5%8f%af%e7%94%a8%e3%80%82\/"},"modified":"2024-05-04T11:40:47","modified_gmt":"2024-05-04T03:40:47","slug":"%e4%bd%bfterminator%e5%9c%a8docker%e7%8e%af%e5%a2%83%e4%b8%ad%e5%8f%af%e7%94%a8%e3%80%82","status":"publish","type":"post","link":"https:\/\/www.silicloud.com\/zh\/blog\/%e4%bd%bfterminator%e5%9c%a8docker%e7%8e%af%e5%a2%83%e4%b8%ad%e5%8f%af%e7%94%a8%e3%80%82\/","title":{"rendered":"\u4f7fTerminator\u5728Docker\u73af\u5883\u4e2d\u53ef\u7528"},"content":{"rendered":"<h1>\u9996\u5148<\/h1>\n<p>\u5728\u81ea\u52a8\u9a7e\u9a76\u548c\u673a\u5668\u4eba\u5f00\u53d1\u4e2d\uff0c\u4f7f\u7528Docker\u8fdb\u884c\u73af\u5883\u642d\u5efa\u53d8\u5f97\u4e0d\u53ef\u6216\u7f3a\uff0c\u5f00\u53d1\u4e2d\u5e38\u5e38\u9700\u8981\u4f7f\u7528ROS\u3002ROS\u9700\u8981\u540c\u65f6\u542f\u52a8\u591a\u4e2a\u7ec8\u7aef\u7a97\u53e3\uff0c\u800c\u5728Docker\u5185\u53ef\u4ee5\u4f7f\u7528tmux\u6765\u8f7b\u677e\u5206\u5272\u7ec8\u7aef\u7a97\u53e3\u7684\u73af\u5883\u76f8\u5bf9\u5e38\u7528\u3002\u7136\u800c\uff0ctmux\u9700\u8981\u8bb0\u4f4f\u5feb\u6377\u952e\uff0c\u5bf9\u4e8e\u521d\u5b66\u8005\u6765\u8bf4\uff0c\u751a\u81f3\u6eda\u52a8\u8f93\u51fa\u5386\u53f2\u8bb0\u5f55\u90fd\u6709\u4e9b\u9ebb\u70e6\u3002\u56e0\u6b64\uff0c\u6211\u5c1d\u8bd5\u9a8c\u8bc1\u4e86\u5728Docker\u5185\u4f7f\u7528Terminator\u4f5c\u4e3aROS\u5f00\u53d1\u7684\u6709\u529b\u4f19\u4f34\uff0c\u5982\u679c\u80fd\u591f\u6709\u4e00\u4e2a\u53ef\u4ee5\u4e00\u952e\u542f\u52a8\u8bbe\u7f6e\u5c4f\u5e55\u5206\u5272\u7b49\u73af\u5883\u7684\u8bbe\u5b9a\uff0c\u5c06\u4f1a\u975e\u5e38\u65b9\u4fbf\u3002<\/p>\n<h1>\u73af\u5883 : \u8bf7\u5c06\u4ee5\u4e0b\u5185\u5bb9\u7528\u4e2d\u6587\u8fdb\u884c\u91cd\u65b0\u8868\u8fbe\uff0c\u53ea\u9700\u8981\u4e00\u4e2a\u9009\u9879: \u73af\u5883\u3002<\/h1>\n<ul class=\"post-ul\">\n<li style=\"list-style-type: none;\">\n<ul class=\"post-ul\">Ubuntu20.04<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<ul class=\"post-ul\">\n<li style=\"list-style-type: none;\">\n<ul class=\"post-ul\">Docker version: 24.0.5<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<ul class=\"post-ul\">\n<li style=\"list-style-type: none;\">\n<ul class=\"post-ul\">Dokcerfile\u30d3\u30eb\u30c9\u306b\u3066terminator\u3092apt install\u6e08\u307f<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<ul class=\"post-ul\">\n<li style=\"list-style-type: none;\">\n<ul class=\"post-ul\">ROS2: Galactic(\u203b\u672c\u4ef6\u3067\u306f\u4f9d\u5b58\u306a\u3057)<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<ul class=\"post-ul\">Nvidia GPU\u74b0\u5883\u4f7f\u7528(\u203b\u672c\u4ef6\u3067\u306f\u4f9d\u5b58\u306a\u3057)<\/ul>\n<h1>\u524d\u63d0<\/h1>\n<h4>Docker\u73af\u5883\u53ef\u4ee5\u63d0\u4f9b\u4e00\u4e2a\u865a\u62df\u5316\u5e73\u53f0\uff0c\u8f7b\u677e\u90e8\u7f72\u548c\u8fd0\u884c\u5e94\u7528\u7a0b\u5e8f\u3002<\/h4>\n<ul class=\"post-ul\">\n<li style=\"list-style-type: none;\">\n<ul class=\"post-ul\">Docker\u5185\u3067\u306froot\u3067\u306f\u306a\u304fdeveloper\u3068\u3044\u3046\u30e6\u30fc\u30b6\u30fc\u3092\u4f5c\u6210\u3057\u305f\u74b0\u5883\u3067\u4f5c\u696d<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<ul class=\"post-ul\">\n<li style=\"list-style-type: none;\">\n<ul class=\"post-ul\">\u30db\u30b9\u30c8\u5074\u3067\u4f5c\u696d\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u3068\u3057\u3066dev_ws\u3092\u4f5c\u6210\u3057docker\u5185\u306b\u540c\u540d\u306e\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u306b\u30de\u30a6\u30f3\u30c8<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<ul class=\"post-ul\">Docker\u5185\u306e\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u69cb\u9020\u306f\/home\/developer\/dev_ws<\/ul>\n<pre class=\"post-pre\"><code>home\/\r\n  \u251c .config\/terminator\/config\r\n  \u2514 developer\/\r\n\u3000\u3000\u3000\u3000\u2514 dev_ws\/\r\n           \u251c run_docker.sh \r\n           \u251c config\/\r\n           \u2502   \u251c launch.sh\r\n           \u2502   \u2514 terminator_config\r\n           \u2514 ros2_ws\/\r\n<\/code><\/pre>\n<h4>Docker\u542f\u52a8\u9009\u9879<\/h4>\n<p>\u7528\u4e0b\u9762\u7684\u547d\u4ee4\u542f\u52a8Docker<\/p>\n<pre class=\"post-pre\"><code>$ bash run_docker.sh\r\n<\/code><\/pre>\n<pre class=\"post-pre\"><code><span class=\"c\">#!\/bin\/bash<\/span>\r\n\r\n<span class=\"nv\">REPO<\/span><span class=\"o\">=<\/span>ros2_gpu_galactic\r\n<span class=\"nv\">TAG<\/span><span class=\"o\">=<\/span>latest\r\n<span class=\"nv\">IMAGE<\/span><span class=\"o\">=<\/span><span class=\"s2\">\"<\/span><span class=\"k\">${<\/span><span class=\"nv\">REPO<\/span><span class=\"k\">}<\/span><span class=\"s2\">:<\/span><span class=\"k\">${<\/span><span class=\"nv\">TAG<\/span><span class=\"k\">}<\/span><span class=\"s2\">\"<\/span>\r\n\r\n<span class=\"nv\">ROS_DOMAIN_ID<\/span><span class=\"o\">=<\/span>100\r\n<span class=\"nv\">COMMAND<\/span><span class=\"o\">=<\/span><span class=\"s2\">\"bash config\/launch.sh\"<\/span>\r\n\r\ndocker run <span class=\"nt\">-ti<\/span> <span class=\"nt\">--rm<\/span> <span class=\"se\">\\<\/span>\r\n    <span class=\"nt\">--net<\/span> host <span class=\"nt\">--pid<\/span><span class=\"o\">=<\/span>host <span class=\"nt\">--privileged<\/span> <span class=\"se\">\\<\/span>\r\n    <span class=\"nt\">-v<\/span> <span class=\"nv\">$HOME<\/span>\/.Xauthority:\/root\/.Xauthority:rw <span class=\"se\">\\<\/span>\r\n    <span class=\"nt\">-v<\/span> \/tmp\/.X11-unix:\/tmp\/.X11-unix <span class=\"se\">\\<\/span>\r\n    <span class=\"nt\">-v<\/span> \/dev:\/dev <span class=\"se\">\\<\/span>\r\n    <span class=\"nt\">-v<\/span> .\/dev_ws:\/home\/developer\/dev_ws <span class=\"se\">\\<\/span>\r\n    <span class=\"nt\">-e<\/span> <span class=\"nv\">DISPLAY<\/span><span class=\"o\">=<\/span><span class=\"nv\">$DISPLAY<\/span> <span class=\"se\">\\<\/span>\r\n    <span class=\"nt\">-e<\/span> <span class=\"nv\">NVIDIA_VISIBLE_DEVICES<\/span><span class=\"o\">=<\/span>all <span class=\"se\">\\<\/span>\r\n    <span class=\"nt\">-e<\/span> <span class=\"nv\">NVIDIA_DRIVER_CAPABILITIES<\/span><span class=\"o\">=<\/span>all <span class=\"se\">\\<\/span>\r\n    <span class=\"nt\">-e<\/span> <span class=\"nv\">ROS_DOMAIN_ID<\/span><span class=\"o\">=<\/span><span class=\"nv\">$ROS_DOMAIN_ID<\/span> <span class=\"se\">\\<\/span>\r\n    <span class=\"k\">${<\/span><span class=\"nv\">IMAGE<\/span><span class=\"k\">}<\/span> <span class=\"k\">${<\/span><span class=\"nv\">COMMAND<\/span><span class=\"k\">}<\/span>\r\n<\/code><\/pre>\n<p>\u6839\u636e\u4e0a\u9762\u7684Docker\u542f\u52a8\u6587\u4ef6\uff0c\u5f53Docker\u542f\u52a8\u540e\uff0cconfig\/launch.sh\u5c06\u5728Docker\u5185\u90e8\u542f\u52a8\uff0c\u8fd9\u662f\u5173\u952e\u3002<\/p>\n<h1>\u7ec8\u7ed3\u8005\u7684\u57fa\u672c\u77e5\u8bc6<\/h1>\n<ul class=\"post-ul\">Terminator\u8d77\u52d5\u306f\u4e0b\u8a18\u30b3\u30de\u30f3\u30c9\u306e\u307f<\/ul>\n<pre class=\"post-pre\"><code>$ terminator\r\n<\/code><\/pre>\n<ul class=\"post-ul\">\n<li style=\"list-style-type: none;\">\n<ul class=\"post-ul\">\u753b\u9762\u5206\u5272\u306f<\/ul>\n<\/li>\n<\/ul>\n<p>Ctrl + Shift + o(\u4e0a\u4e0b\u5206\u5272)<br \/>\nCtrl + Shift + e(\u5de6\u53f3\u5206\u5272)<\/p>\n<p>Terminator\u8d77\u52d5\u6642\u306b\u5206\u5272\u30bf\u30fc\u30df\u30ca\u30eb\u306b\u3057\u305f\u3044\u5834\u5408\u306f\u3001<\/p>\n<p>Terminator\u753b\u9762\u4e0a\u3067\u53f3\u30af\u30ea\u30c3\u30af \u2192 \u8a2d\u5b9a<br \/>\nLayout\u30bf\u30d6\u4e0a\u3067add\u3092\u62bc\u3059\u3068\u73fe\u5728\u306e\u753b\u9762\u8a2d\u5b9a\u304c\u8a2d\u5b9a\u30d5\u30a1\u30a4\u30eb\u306b\u4fdd\u5b58\u3055\u308c\u308b \u2192 \u30ec\u30a4\u30a2\u30a6\u30c8\u540d\u3092\u8a2d\u5b9a(\u3053\u3053\u3067\u306fros\u3068\u3057\u305f)<\/p>\n<p>\u4fdd\u5b58\u3057\u305f\u8a2d\u5b9a\u30d5\u30a1\u30a4\u30eb(\u5206\u5272\u753b\u9762)\u3067\u8d77\u52d5\u3057\u305f\u3044\u5834\u5408\u306f\u3001<\/p>\n<pre class=\"post-pre\"><code>$ terminator -l &lt;\u30ec\u30a4\u30a2\u30a6\u30c8\u540d&gt;\r\n<\/code><\/pre>\n<ul class=\"post-ul\">\n<li style=\"list-style-type: none;\">\n<ul class=\"post-ul\">\u3061\u306a\u307f\u306b\u5168\u753b\u9762\u7d42\u4e86\u306f\u3001<\/ul>\n<\/li>\n<\/ul>\n<p>Ctrl + Shift + q<\/p>\n<h1>\u53ef\u4ee5\u8bf7\u6559\u60a8\u7684\u7591\u95ee\u5417\uff1f<\/h1>\n<ul class=\"post-ul\">\n<li style=\"list-style-type: none;\">\n<ul class=\"post-ul\">Terminator\u306e\u8a2d\u5b9a\u30d5\u30a1\u30a4\u30eb\u304c\u4fdd\u5b58\u3055\u308c\u308b\u5148\u304c\u3001\/home\/.config\/terminator\/config\u306ehome\u76f4\u4e0b\u3067\u3042\u308a\u3001\u3053\u3053\u306b\u3044\u304f\u3089\u4fdd\u5b58\u3055\u308c\u3066\u3082Docker\u3092\u7d42\u4e86\u3059\u308b\u3068\u8a2d\u5b9a\u30d5\u30a1\u30a4\u30eb\u304c\u6d88\u3048\u3066\u3057\u307e\u3046\u3002<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<ul class=\"post-ul\">\u8a2d\u5b9a\u30d5\u30a1\u30a4\u30eb\u306e\u4fdd\u5b58\u5148\u3092\u6307\u5b9a\u3059\u308b\u8d77\u52d5\u30aa\u30d7\u30b7\u30e7\u30f3\u3092\u8abf\u3079\u305f\u304c\u7121\u304b\u3063\u305f<\/ul>\n<h1>\u89e3\u51b3\u65b9\u6848<\/h1>\n<ul class=\"post-ul\">\u307e\u305a\u753b\u9762\u5206\u5272\u5f8c\u306b\u8a2d\u5b9a\u30d5\u30a1\u30a4\u30eb\u3092dev_ws\/config\/\u306b\u30b3\u30d4\u30fc<\/ul>\n<pre class=\"post-pre\"><code>$ cp \/home\/.config\/Terminator\/config \/home\/developer\/dev_ws\/config\/terminator_config\r\n<\/code><\/pre>\n<ul class=\"post-ul\">\u6b21\u306bDocker\u8d77\u52d5\u5f8c\u306b\u5b9f\u884c\u3055\u308c\u308b\u51e6\u7406launch.sh\u306b\u4ee5\u4e0b\u306e\u3088\u3046\u306a\u51e6\u7406\u3092\u52a0\u3048\u305f\u3002<\/ul>\n<pre class=\"post-pre\"><code><span class=\"c\">#!\/bin\/bash<\/span>\r\n\r\n<span class=\"k\">if<\/span> <span class=\"o\">[<\/span> <span class=\"o\">!<\/span> <span class=\"nt\">-d<\/span> \/home\/developer\/.config\/terminator <span class=\"o\">]<\/span><span class=\"p\">;<\/span> <span class=\"k\">then\r\n    <\/span><span class=\"nb\">mkdir<\/span> <span class=\"nt\">-p<\/span> \/home\/developer\/.config\/terminator\r\n    <span class=\"nb\">ln<\/span> <span class=\"nt\">-s<\/span> \/home\/developer\/dev_ws\/config\/terminator_config \/home\/developer\/.config\/terminator\/config\r\n<span class=\"k\">fi\r\n\r\n<\/span>terminator <span class=\"nt\">-l<\/span> ros\r\n<\/code><\/pre>\n<p>\u7b80\u5355\u6765\u8bf4\uff0c\u5982\u679c.config\u76ee\u5f55\u4e0d\u5b58\u5728\uff0c\u5219\u521b\u5efa\u5b83\uff0c\u5e76\u4e14\u5373\u4f7f\u505c\u6b62Docker\uff0c\u4e5f\u4e0d\u4f1a\u5220\u9664\u6302\u8f7d\u7684dev_ws\u76ee\u5f55\u3002\u56e0\u6b64\uff0c\u6211\u4eec\u521b\u5efa\u4e86\u4e00\u4e2a\u540d\u4e3aterminator_config\u7684\u6587\u4ef6\uff0c\u5e76\u5728dev_ws\/config\u4e0b\u521b\u5efa\u4e86\u4e00\u4e2a\u7b26\u53f7\u94fe\u63a5\u3002<\/p>\n<h1>\u7ed3\u679c<\/h1>\n<p>\u5f53\u6211\u8fd0\u884cDocker\u542f\u52a8\u811a\u672c\u65f6\uff0cTerminator\u4e5f\u540c\u65f6\u542f\u52a8\u4e86\u3002\u800c\u4e14\uff0c\u7531\u4e8e\u7b26\u53f7\u94fe\u63a5\u7684\u66f4\u65b0\uff0c\u6211\u53ef\u4ee5\u5728Docker\u5185\u90e8\u4fee\u6539\u5e76\u4fdd\u5b58\u5206\u5272\u914d\u7f6e\uff0c\u4e0b\u6b21\u542f\u52a8\u65f6\u5c06\u4f1a\u53cd\u6620\u51fa\u6765\u3002<\/p>\n<h1>\u94fe\u63a5<\/h1>\n<ol>\u63a8\u8350\u7ed9Ubuntu\u521d\u5b66\u8005\u5728\u4f7f\u7528ROS\u65f6\u4f7f\u7528\u7684\u7ec8\u7aef\u5e94\u7528\u7a0b\u5e8f\u662f&#8221;terminator&#8221;\u3002<\/ol>\n","protected":false},"excerpt":{"rendered":"<p>\u9996\u5148 \u5728\u81ea\u52a8\u9a7e\u9a76\u548c\u673a\u5668\u4eba\u5f00\u53d1\u4e2d\uff0c\u4f7f\u7528Docker\u8fdb\u884c\u73af\u5883\u642d\u5efa\u53d8\u5f97\u4e0d\u53ef\u6216\u7f3a\uff0c\u5f00\u53d1\u4e2d\u5e38\u5e38\u9700\u8981\u4f7f\u7528ROS\u3002ROS\u9700\u8981 [&hellip;]<\/p>\n","protected":false},"author":4,"featured_media":0,"comment_status":"closed","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[],"class_list":["post-35345","post","type-post","status-publish","format-standard","hentry","category-uncategorized"],"yoast_head":"<!-- This site is optimized with the Yoast SEO Premium plugin v21.5 (Yoast SEO v21.5) - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<title>\u4f7fTerminator\u5728Docker\u73af\u5883\u4e2d\u53ef\u7528 - Blog - Silicon Cloud<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" 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