#rise-dcl-log

06.29.2026

Old command

docker create \
 --name workspace \
 --gpus all \
 --net=host \
 -e DISPLAY=$DISPLAY \
 -v /tmp/.X11-unix:/tmp/.X11-unix \
 -v /home/akhaled/workspace:/home/akhaled/workspace \
 -w /home/akhaled/workspace \
 ubuntu:20.04 \
 tail -f /dev/null

New command

docker run -it --rm \
  --net=host \
  --gpus all \
  -e DISPLAY=$DISPLAY \
  -e NVIDIA_DRIVER_CAPABILITIES=all \
  -v /tmp/.X11-unix:/tmp/.X11-unix:rw \
  osrf/ros:noetic-desktop-full

https://wiki.ros.org/noetic/Installation/Ubuntu start from step 1.5

Presentation for Setup

apt-get install git-core python3-wstool python3-vcstools python3-rosdep ros-noetic-control-msgs ros-noetic-joystick-drivers ros-noetic-xacro ros-noetic-tf2-ros ros-noetic-rviz ros-noetic-cv-bridge ros-noetic-actionlib ros-noetic-actionlib-msgs ros-noetic-dynamic-reconfigure ros-noetic-trajectory-msgs ros-noetic-rospy-message-converter

apt install python3 python3-pip python3-venv

pip install argparse

mkdir ros_ws
mkdir src

wstool init .

apt install git
git clone https://github.com/RethinkRobotics/sawyer_robot.git
wstool merge sawyer_robot/sawyer_robot.rosinstall
wstool update
source /opt/ros/noetic/setup.bash
catkin_make

apt-get install gazebo11 ros-noetic-gazebo-ros  ros-noetic-gazebo-ros-control
ros-noetic-gazebo-ros-pkgs ros-noetic-ros-control ros-noetic-control-toolbox ros-noetic-realtime-tools
apt-get install gazebo11 ros-noetic-gazebo-ros  ros-noetic-gazebo-ros-control  ros-noetic-gazebo-ros-pkgs ros-noetic-ros-control ros-noetic-control-toolbox ros-noetic-realtime-tools  ros-noetic-ros-controllers ros-noetic-xacro python3-wstool ros-noetic-tf-conversions ros-noetic-kdl-parser

git clone https://github.com/RethinkRobotics/sawyer_simulator.git -b noetic_devel
git clone https://github.com/RethinkRobotics-opensource/sns_ik.git -b melodic-devel

rm .rosinstall
wstool init .
wstool merge sawyer_simulator/sawyer_simulator.rosinstall
wstool update

source /opt/ros/noetic/setup.bash
catkin_make

cd /ros_ws/src/sawyer_simulator/sawyer_gazebo/src/head_interface.cpp line 71:
  cv_ptr->image = cv::imread(img_path, cv::IMREAD_UNCHANGED);
  
 catkin_make 
 
 cd ros_ws
 . devel/setup.bash
 roslaunch sawyer_sim_examples sawyer_pick_and_place_demo.launch