Booster Sim — Dockerized Booster Robotics Webots Simulation

This repository provides a Dockerized development and simulation stack for Booster Robotics, including:

• ✅ Webots — advanced 3D robot simulator.
• ✅ Booster Control Runner — bridges the SDK and Webots simulation.
• ✅ FastDDS — real-time DDS middleware for ROS 2.
• ✅ Booster ROS 2 packages — integrated example and interface nodes.

---

📦 How it works

Large binaries like Webots, worlds, control runners and FastDDS monitor are distributed via GitHub Releases, not tracked in the repository.

The Dockerfile automatically:

• Pulls these .zip files with curl.
• Unpacks them in the right directories.
• Installs ROS 2 Humble on NVIDIA CUDA runtime for GPU-accelerated OpenGL.
• Removes unnecessary Mesa fallback libraries early to avoid software rendering fallback.

---

🐳 NVIDIA Runtime Requirements

This stack runs on:

FROM nvidia/cuda:12.3.1-runtime-ubuntu22.04

You must have:

• A compatible NVIDIA GPU.
• Proper NVIDIA drivers installed on the host for CUDA 12.3+.
• The nvidia-container-toolkit and nvidia-docker runtime configured.

Test with:

nvidia-smi

Ensure it shows your GPU with no errors.

This guarantees hardware OpenGL rendering inside the container (not Mesa).

---

✅ Quickstart with Makefile

Use the Makefile for a simple workflow:

# Build the Docker image
make compose-build

# Launch the container stack
make compose-up

# Open a shell inside the running container
make exec

# Shut down and clean up
make compose-down

✅ The compose-up automatically forwards X11 for GUI (Webots) and uses the NVIDIA runtime.

---

⚙️ Manual usage inside container

No automatic entrypoint is defined. Once inside the container, use the pre-set bash aliases:

# Run the 7DOF simulation world:
start-webots-7dof

# Or run the release world:
start-webots

# Start the Control Runner (matching version):
start-runner
start-runner-7dof

# Run SDK client example:
sdk-client

These are all defined in the Dockerfile and ready to use in ~/.bashrc.

---

✅ FastDDS config

A custom fastdds_profile.xml is included and auto-set:

export FASTRTPS_DEFAULT_PROFILES_FILE=/root/Workspace/booster_sim/fastdds_profile.xml

No extra setup needed.

---

⚡️ GPU OpenGL troubleshooting

If you see Webots using Mesa, double-check:

• You started Docker with --runtime=nvidia.
• You passed /dev/dri and NVIDIA device nodes.
• You have xhost +local:docker to allow GUI access.
• Your host has the proprietary NVIDIA OpenGL drivers (libGLX_nvidia.so etc.).

---

📌 License and vendor notice

The .zip binaries are from Booster Robotics official distribution and provided in GitHub Releases only for team internal use.

All intellectual property belongs to Booster Robotics.

---

© Booster Robotics Simulation — 2025