Install Docker on WSL2 (Ubuntu 22.04)

(Optional) Install Docker on Ubuntu 22.04

Run Simulator

1. Pull the Docker Image (if not already downloaded)

docker pull rainbowroboticsofficial/rby1-sim

1. Start the Container

docker run --rm -e DISPLAY=${DISPLAY} -v /tmp/.X11-unix:/tmp/.X11-unix -p 50051:50051 rainbowroboticsofficial/rby1-sim   

if the os is wsl2 for gui, you need to install Xlaunch and run it. Please refer to gui 설정

if the os is ubuntu, you will see the error like below

Authorization required, but no authorization protocol specified
ERROR: Could not initialize GLFW

then you need to run command below

sudo xhost +local:
sudo docker run --rm \\
   -e DISPLAY=$DISPLAY \\
   -v /tmp/.X11-unix:/tmp/.X11-unix \\
   -p 50051:50051 \\
   rainbowroboticsofficial/rby1-sim-arm

1. Run SDK code in local

# example
./build/examples/cpp/example_demo_motion localhost:50051

1. Stop Simulation

checking docker

sudo docker ps -a

docker stop

sudo docker stop <conatainer id>