An L-CAS ROS2 docker image with OpenGL remote rendering using VirtualGL and TurboVNC

build with docker build -t test .

run with docker run -p 5801:5801 -u ros -v /dev/dri:/dev/dri --gpus=all -it --rm test /bin/bash

then run /opt/VirtualGL/bin/glxspheres64 inside the container and be amazed.