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Docker Support for rl_sar

Docker environment for simulation and deployment with ROS2 Humble.

Prerequisites

Before building, initialize git submodules:

git submodule update --init --recursive

Quick Start

# Enable X11 forwarding (on host)
xhost +local:docker

# Build and run (from repo root or docker/ directory)
cd docker
docker compose up -d

# To use software rendering (Mesa llvmpipe) instead of GPU:
# docker compose --profile software up -d rl_sar_software

# Check which renderer is used:
# docker exec -it rl_sar glxinfo | grep "OpenGL renderer"
#   GPU mode:      NVIDIA GeForce RTX xxxx
#   Software mode: llvmpipe (LLVM xx.x, 256 bits)

# Rebuild after code changes, if only change policies not codes, no need to rebuild
docker compose up -d --build

# in the docker folder
docker compose exec rl_sar bash
# or anywhere
docker exec -it rl_sar bash

Usage

MuJoCo Simulation

./cmake_build/bin/rl_sim_mujoco <ROBOT> <SCENE>
# Example:
./cmake_build/bin/rl_sim_mujoco g1 scene_29dof
./cmake_build/bin/rl_sim_mujoco go2 scene

Gazebo Simulation

# Terminal 1: Launch Gazebo
source install/setup.bash
ros2 launch rl_sar gazebo.launch.py rname:=<ROBOT>

# Example:
source install/setup.bash
ros2 launch rl_sar gazebo.launch.py rname:=g1

# Terminal 2: Run controller
source install/setup.bash
ros2 run rl_sar rl_sim

# Terminal 3: control via ros topic
# Press N to enter navigation mode
source install/setup.bash
ros2 topic pub /cmd_vel geometry_msgs/msg/Twist "{linear: {x: 0.5}}" -r 10
# Note, current impl won't stop if the message is not received for a while, press N again to exit navigation mode

Real Robot

# Go2/Go2W
./cmake_build/bin/rl_real_go2 <NETWORK_INTERFACE> [wheel]

# G1 (29dofs)
./cmake_build/bin/rl_real_g1 <NETWORK_INTERFACE>

# A1
./cmake_build/bin/rl_real_a1

Controls

Gamepad Keyboard Description
A Num0 Stand up (move to default pose)
B Num9 Return to initial pose
RB+DPadUp Num1 Basic locomotion
LY/LX W/S, A/D Move forward/backward, left/right
RX Q/E Yaw rotation
RB+Y R Reset simulation (Gazebo)

Files

File Description
Dockerfile ROS2 Humble + Gazebo + MuJoCo + Real Robot
docker-compose.yml X11 + gamepad + network support
entrypoint.sh Sources ROS2 setup

Build Manually

# From repo root
docker build -f docker/Dockerfile -t rl_sar:humble .

Notes

  • Gazebo models (sun, ground_plane) are automatically downloaded during build
  • Policy files are mounted read-only from ../policy
  • Container runs in privileged mode with host network for robot communication
  • Gamepad devices are passed through via /dev/input