DART-Simulator / DART-Services: Install and Run with Docker Compose (SDK7) – Doosan Robotics

Overview

From SDK7 (software V3.7), DART-Services (the DART Simulator and Build Module for V3) are no longer provided as an installer. They run as containers from the GitHub repository DoosanRobotics/dart-services-compose, on any PC that supports docker compose (Windows or Mac).

You need a few commands only once, for the first setup. After that you can start, restart and stop the simulator from the GUI of your container application (Rancher Desktop or Docker Desktop), without typing commands.

The official installation document is on the Service Portal (sign-in required): Dev Docs › Dart-Services › Install with Docker Compose (SDK7). This article follows it and adds tips for first-time users.

Which Simulator Do I Need?

Your robot software	Tool	Where
V2 controller (V2.x)	DART-Simulator (VirtualBox-based, Windows)	Service Portal › Software › DART-Simulator
V3 controller (V3.x)	DART-Services Docker Compose setup — no installer file. This article.	GitHub `DoosanRobotics/dart-services-compose`

One Docker Compose setup runs sdk2 – sdk7 (set SDK_VERSION in .env), so it covers all V3 software versions.

Before You Start — Choose a Container Application

Application	License	Install (Windows)	Install (Mac)
Rancher Desktop (recommended)	Free	`winget install suse.RancherDesktop`	`brew install --cask rancher`
Docker Desktop	Paid for commercial use	`winget install Docker.DockerDesktop`	`brew install --cask docker-desktop`

If you use the simulator in a company, check the Docker Desktop license terms first. Rancher Desktop has no license fee.

Step 1. Set Up Rancher Desktop (Rancher Desktop Only)

Skip this step if you use Docker Desktop.

Container engine: select dockerd (moby). Preferences → Container Engine. With containerd, every docker compose command fails.
Mac only — resources: Preferences (⌘,) → Virtual Machine → Hardware → set 4 CPUs or more and 6 GB memory or more. The default (2 CPUs / 4 GB) is too small, and the simulator does not start.
Mac only — Docker socket: add the line below to ~/.zshrc, then open a new terminal.
export DOCKER_HOST=unix://$HOME/.rd/docker.sock

Step 2. Download the Repository

Option A — without Git (easiest): open the repository page → Code ▸ Download ZIP, and unzip it to a fixed folder (for example C:\DART\dart-services-compose).

Option B — with Git: install Git (winget install Git.Git on Windows, brew install git on Mac), then run:

git clone https://github.com/DoosanRobotics/dart-services-compose.git
cd dart-services-compose

Important: always run the commands in this same folder. If you run them in another folder, the default settings are used without any warning, and your simulator data is created in a different place.

Step 3. Create the Settings File (.env)

In the repository folder, copy .env.example to .env:

Windows (PowerShell): copy .env.example .env
Mac: cp .env.example .env

Open .env in a text editor and change the values if needed:

Variable	Default	Meaning
`SDK_VERSION`	sdk7	Simulator SDK version (sdk2 – sdk7)
`ROBOT_MODEL`	M1013	Robot model (see below)
`SIMULATOR_CPU`	4	CPU cores for the simulator
`SIMULATOR_MEMORY`	2g	Memory for the simulator

Robot models

sdk2 or later: M0609, M0617, M1013, M1509, A0509, A0912, H2017, H2515, E0509
sdk4 or later: P3020

Step 4. First Start (One Time)

Make sure Rancher Desktop (or Docker Desktop) is running, then in the repository folder run:

docker compose -p dart-services-compose --profile build up -d

This starts the simulator and the Build Module. The first start downloads about 800 MB and takes a few minutes. It is not frozen. Later starts take a few seconds.

To start only the simulator (without the Build Module): docker compose -p dart-services-compose up -d

Simulator data is saved under data/<SDK_VERSION>/<ROBOT_MODEL>/ in the repository folder.

FAQ

Is there an installer for SDK7?
No. After the first setup, you can start and stop the simulator from the Rancher Desktop / Docker Desktop window, so no commands are needed for daily use.

Daily Use — Start, Restart and Stop from the GUI

After the first start, you do not need commands for daily use.

Open Rancher Desktop (or Docker Desktop) → Containers.
The containers simulator, build-module-fw and build-module-ui are listed. Use the Start / Restart / Stop buttons.

If you prefer commands, run them in the repository folder:

docker compose -p dart-services-compose --profile build up -d     # start
docker compose -p dart-services-compose --profile build down      # stop

Update

docker compose -p dart-services-compose --profile build pull
docker compose -p dart-services-compose --profile build up -d

Ports Used

Service	Container name	Host ports
simulator	simulator	12345, 3601, 502, 12360 (UDP)
build_fw	build-module-fw	5022
build_ui	build-module-ui	5023, 3002, 8089 (UDP)

If another program uses one of these ports, the container cannot start.

Troubleshooting

Message or symptom	Cause and solution
`docker: 'compose' is not a docker command` / `unknown flag: --profile`	The container engine is containerd. In Rancher Desktop, change it to dockerd (moby), then try again in a new terminal.
`Cannot connect to the Docker daemon`	Rancher Desktop / Docker Desktop is not running. Start it. On Mac with Rancher Desktop, check the `DOCKER_HOST` setting (Step 1).
`Conflict. The container name "/simulator" is already in use`	The command was run in a different folder. Always use the same folder and the `-p dart-services-compose` option.
Simulator does not start on Mac	Check the Rancher Desktop VM resources: 4 CPUs / 6 GB or more (Step 1).
Settings or programs seem lost after a restart	Check that you started it from the same folder as before. Another folder uses another `data/` folder.
`docker compose logs` shows nothing	This is normal (logging is disabled for these services). See "Logs for Support" below.

More cases are in the repository README (Troubleshooting).

Logs for Support

When you contact support, collect the simulator logs with:

docker cp simulator:/home/dra/etc/logs/dart-suite ./dart-suite-logs

Send the folder (zipped) together with: OS (Windows / Mac, Intel or Apple Silicon), container application and version, SDK_VERSION and ROBOT_MODEL from .env, and the exact error message.