Installing the software

In order to use the Shadow Moveit! Planner Benchmarking, you can use our docker image. Docker is a container framework where each container image is a lightweight, stand-alone, executable package that includes everything needed to run it. It is similar to a virtual machine but with much less overhead. Follow the instructions in the next section to get the latest Docker container up and running.

Hardware specifications

In order to run our software and the ROS software stack you will need to meet some hardware requirements.

  • CPU: Intel i5 or above
  • RAM: 4GB or above
  • Hard Drive: Fast HDD or SSD (Laptop HDD are very slow)
  • Graphics Card: Nvidia GPU (optional)
  • OS: Ubuntu 18.04, 16.04 Kinetic (Active development)

Create docker container

Pull docker image:

docker pull shadowrobot/dexterous-hand:kinetic-sr-benchmarking

Create container:

docker run -it --privileged --name sr_planner_benchmarking --network=host -e DISPLAY -e QT_X11_NO_MITSHM=1 -e LOCAL_USER_ID=$(id -u) -v /tmp/.X11-unix:/tmp/.X11-unix:rw shadowrobot/dexterous-hand:kinetic-sr-benchmarking

Note

You don’t need to run “docker run” every time as the container is persistent.

To start the container again please execute

docker start sr_planner_benchmarking