.. index:: pair: page; Launching Engines in Docker Containers Examples
.. _doxid-running_example_docker_exp:

Launching Engines in Docker Containers Examples
===============================================

The folder ``"examples"`` contains four examples (listed in the table below) of how to use the :ref:`DockerLauncher launch command <doxid-launch_command_1docker_launcher>` to launch Engine processes in docker containers. In each of these experiments there is a ``simulation_config_docker.json`` configuration file which uses :ref:`DockerLauncher <doxid-class_docker_launcher>` to launch and run one of the engines in the experiment in a docker container.

==============================  ==============================================================================  ====================================  
Example folder                  Description                                                                     DockerImage                           
==============================  ==============================================================================  ====================================  
husky_braitenberg               Running a gazebo_grpc engine with a husky model inside a docker container       nrp-core/nrp-gazebo-ubuntu20:latest   
nest_simple                     Running a nest_json engine with a simple nest model inside a docker container   nrp-core/nrp-nest-ubuntu20:latest     
pysim_examples/opensim_control  Running a pysim engine with a arm26 model of OpenSim inside a docker container  nrp-core/nrp-opensim-ubuntu20:latest  
tf_exchange                     Running a python_json engine inside a docker container                          nrp-core/nrp-vanilla-ubuntu20:latest  
==============================  ==============================================================================  ====================================

The images referenced in the table can be manually built from the different dockerfiles available in the folder "/dockerfiles" using docker-compose. For more information on how to use the provided dockerfiles to build custom, modular docker images with the necessary dependencies to run different Engines, see this :ref:`page <doxid-docker_compose>`.

To run the experiments, users should first, on the host where Engines are to be launched in docker containers, setup docker daemon properly. See this :ref:`guide <doxid-configuring_docker_daemon>` for more information on how to do this.

Once this is done, on the host where the experiment is launched, one should run the experiment as usual. For example:

.. ref-code-block:: cpp

	cd examples/<example folder>
	NRPCoreSim -c simulation_config_docker.json

*NOTE:*

The IP addresses of the local and remote hosts have to be taken into account when setting the experiment configuration parameters. For example, in the case of launching a PythonJSONEngine:

* ``"DockerDaemonAddress"`` is the IP address of the remote docker daemon.

* ``"ServerAddress"`` is the IP address of engine running inside of the docker container (in the remote host)

* ``"RegistrationServerAddress"`` is the IP address of NRPCore

Also it must be ensured that ports required to connect to the aforementioned IP addresses are accessible from the respective hosts.