ROS Kinetic + Gazebo on Docker HOWTO

This tutorial is focused on those people that have Ubuntu 14.04 + ROS Indigo and they want to run Gazebo 7 or later.

Step 1: Install Docker

Install docker https://docs.docker.com/engine/installation/linux/ubuntu/

To run docker without super user:

  sudo groupadd docker
  sudo gpasswd -a ${USER} docker
  sudo service docker restart

Step 2: Use NVIDIA acceleration

Install nvidia-docker (to get HW acceleration) https://github.com/NVIDIA/nvidia-docker/wiki

Step 3: Creating the container

This repository contain the Dockerfile. Move into the directory containing the file and type

The command below will create the container from the base image if it doesn't exist and log you in.

docker build -t ros-kinetic-gazebo7 .

Step 4: Start the container

To make it easier, I created the launcher launch_docker.sh (you might need to call chmod +x ./launch_docker.sh first).

 ./launch_docker.sh

References

• http://wiki.ros.org/docker/Tutorials/Docker
• http://wiki.ros.org/docker/Tutorials/Hardware%20Acceleration
• http://wiki.ros.org/docker/Tutorials/GUI