CARLA in Docker

Linux users can pull an image based on a CARLA release to run in a Docker container. This is useful for users who:

  • Want to run CARLA without needing to install all dependencies
  • Run multiple CARLA servers and perform GPU mapping
  • Run the CARLA server without a display

Before you begin

You will need to have installed:

  • Docker: Follow the installation instructions here.
  • Post installation: Follow these instructions to avoid the need for sudo commands
  • NVIDIA Container Toolkit: The NVIDIA Container Toolkit is a library and toolset that exposes NVIDIA graphics devices to Linux containers. It is designed specifically for Linux containers running on Linux host systems or within Linux distributions under version 2 of the Windows Subsystem for Linux. Install the nvidia-docker2 package by following the instructions here.

Pull the CARLA Docker image

Pull the image with the following command:

docker pull carlasim/carla:0.10.0

Run the image

Running the Docker image without display:

docker run \
    --runtime=nvidia \
    --net=host \
    --env=NVIDIA_VISIBLE_DEVICES=all \
    --env=NVIDIA_DRIVER_CAPABILITIES=all \
    carlasim/carla:0.10.0 bash CarlaUnreal.sh -RenderOffScreen -nosound

Running the Docker image with a display:

To run the Docker image with a display, you will need the x11 display protocol:

docker run \
    --runtime=nvidia \
    --net=host \
    --user=$(id -u):$(id -g) \
    --env=DISPLAY=$DISPLAY \
    --env=NVIDIA_VISIBLE_DEVICES=all \
    --env=NVIDIA_DRIVER_CAPABILITIES=all \
    --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
    carlasim/carla:0.10.0 bash CarlaUnreal.sh -nosound