Prepare a development environment for executing docker image with GPU support

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1. Install Docker Engine [1]

$ sudo apt-get remove docker docker-engine docker.io containerd runc

$ sudo apt-get update 

$ sudo apt-get install apt-transport-https ca-certificates curl gnupg-agent software-properties-common

$ curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo apt-key add -

$ sudo add-apt-repository "deb [arch=amd64] https://download.docker.com/linux/ubuntu $(lsb_release -cs) stable"

$ sudo apt-get update

$ sudo apt-get install docker-ce docker-ce-cli containerd.io

2. Add your account into docker group

$ sudo gpasswd -a $USER docker

$ sudo reboot

3. Install nvidia-container-runtime [2]

$ curl -s -L https://nvidia.github.io/nvidia-container-runtime/gpgkey | sudo apt-key add -

$ distribution=$(. /etc/os-release;echo $ID$VERSION_ID)

$ curl -s -L https://nvidia.github.io/nvidia-container-runtime/$distribution/nvidia-container-runtime.list | sudo tee /etc/apt/sources.list.d/nvidia-container-runtime.list

$ sudo apt update

$ sudo apt install nvidia-container-runtime

$ sudo systemctl restart docker.service

4. Check

$ docker run -it --rm --gpus all ubuntu nvidia-smi


 

Reference:

[1] https://docs.docker.com/engine/install/ubuntu/

[2] https://github.com/NVIDIA/nvidia-container-runtime

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1. For setting companion link SYS_COMPANION (Before ver. 1.9.0) MAV_0_CONFIG, MAV_0_MODE (After ver. 1.9.0) 2. EKF2 configuration EKF2_AID_MASK EKF2_HGT_MODE EKF2_EV_DELAY (Reduce this parameter if high rate external vision is available) EKF2_EV_POS_X, EKF2_EV_POS_Y, EKF2_EV_POS_Z 3. Offboard mode parameters ( The vehicle will exit the mode if target setpoints are not received at a rate of > 2Hz ) COM_OBL_RC_ACT (Default: position mode, I set land mode) COM_OBL_ACT COM_OF_LOSS_T 4. Position loss failsafe COM_POSCTL_NAVL 5. Land mode MPC_LAND_SPEED COM_DISARM_LAND: Time-out for auto disarm after landing. (Default: 0, I set 3.) 6. TBD Reference: [1]  https://dev.px4.io/en/advanced/parameter_reference.html [2]  https://dev.px4.io/en/ros/external_position_estimation.html#tuning-EKF2_EV_DELAY [3]  https://docs.px4.io/en/config/safety.html#qgc_safety_setup
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