iCub_SIM simulator not work in docker robotology/icub

[niudong1001]

Hello bro!
I have downloaded the docker file by docker pull robotology/icub command,and it is work well when i run yarpserver but when i run iCub_SIM,i got the error below:

[INFO]Adding video texture face
yarp: Port /icubSim/texture/face active at tcp://172.17.0.2:10049/
[INFO]Adding video texture screen
yarp: Port /icubSim/texture/screen active at tcp://172.17.0.2:10050/
[INFO]Adding video texture sky
yarp: Port /icubSim/texture/sky active at tcp://172.17.0.2:10051/
[DEBUG]***** OdeSdlSimulation::simLoop 
Segmentation fault (core dumped)

Is it because of docker?
Waiting for response,thanks!

[pattacini]

Not completely sure but @diegoferigo might be of some help in this respect.

[diegoferigo]

Can you please post how you create the container? If you want to use GUIs, you need to instruct docker how to access the host's Xserver.

[niudong1001]

Thanks, @diegoferigo. I guess it must be the reason you mentioned so i made some configurations according to can-you-run-gui-apps-in-a-docker-container. But it is still not work so maybe i will try setup on my ubuntu system rather than docker.

[diegoferigo]

There are many ways to share Xserver. Don't do complicated ways, here you can find an old setup of my ROS image. Now I switched to a more secure way, but the command you find in the link is the easiest way to get it working.

[diegoferigo]

I had some time to look into this issue, and with the image you have I managed to get iCubGui successfully running. Here below the commands I used:

$ xhost +local:root
$ docker run -it --rm \
      -e DISPLAY \
      -v /tmp/.X11-unix:/tmp/.X11-unix:rw \
      robotology/icub \
      iCubGui
$ xhost -local:root

The image works out-of-the-box for intel-based machines. If your laptop has an Nvidia card (as mine) you need a more complex configuration, which involves nvidia-docker. Here is a pointer to a simple test for future reference.

[arfan786]

How can create image in icub simulator please help me in code