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Extra - Native Webots For Docker

The LGDXRobot2 ROS2 Docker image allows you to deploy all dependencies in one go, but it does not include Webots. Running Webots inside Docker may be slow. Fortunately, Webots is flexible and can run on the simulation via network.

  1. Create a folder for sharing Webots files
mkdir -p ~/webots_share
  1. Start the Docker container and mount the shared folder
docker run -d  \
  --name lgdxrobot2 \
  -e PUID=1000 \
  -e PGID=1000 \
  -v ~/webots_share:/config/webots_share \
  -p 3000:3000 \
  -p 3001:3001 yukaitung/lgdxrobot2.desktop:latest
  1. Set environment variables inside the container
export WEBOTS_SHARED_FOLDER=~/webots_share:/config/webots_share
  1. Save the local simulation server script on the host machine.
  2. Run the local simulation server on the host machine.
export WEBOTS_HOME=/Applications/Webots.app # macOS
python3 /Users/sam/Develop/keys/local_simulation_server.py
  1. Run the simulation in the container. When you run the simulation in the container, the Webots GUI will open automatically on your host machine.