Note Robotlab Lund: The first go-to solution is ros-containers which also supports podman.
Our Docker containers are built on the OSRF images. They add:
- tools that we typically need
- 3D-accelerated GUI support for RViz, Gazebo, etc
- Convenient build and start scripts with reasonable defaults
- They automatically share the home folder and network to allow easy usage within an existing environment
| Graphics/Ubuntu & ROS | 16.04 Kinetic | 18.04 Melodic | 20.04 Focal |
|---|---|---|---|
| Nvidia | X | X | X |
| Intel | X | ||
| Without 3D support | X | X | X |
Support for other combinations can be added via merge requests.
For Ubuntu (tested on 18.04) and Nvidia graphics card. Other manifacturers could be supported - feel free to send a merge request.
sudo apt update
sudo apt install docker.io- Background: ROS Wiki page on docker hardware acceleration
- We use
nvidia-docker2 - The installation comes from here
curl -fsSL https://nvidia.github.io/libnvidia-container/gpgkey | sudo gpg --dearmor -o /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg \
&& curl -s -L https://nvidia.github.io/libnvidia-container/stable/deb/nvidia-container-toolkit.list | \
sed 's#deb https://#deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://#g' | \
sudo tee /etc/apt/sources.list.d/nvidia-container-toolkit.list
sudo apt-get updatesudo apt-get install -y nvidia-container-toolkitsudo nvidia-ctk runtime configure --runtime=dockerFor both Nvidia and Intel graphics cards:
sudo systemctl daemon-reload
sudo systemctl restart docker
Alternatively restart computer.
Execute ./build-ros-docker.sh and select the options you want.
Execute ./run_docker.sh to get an interactive menu to choose a container to start.
Use ./run_docker.sh melodic nvidia, run_docker.sh kinetic intel or run_docker.sh noetic nvidia to start a specific version with their respectice graphics card support.