Intro

This repo introduces the steps to setup ros-1 docker under ubuntu.
The ROS image built by this method will support GUIs such as rviz.

Target version the docker will build

Ubuntu: 18.04
ROS: ROS 1 Melodic

Step 0, Dependancies

Make sure nvidia-docker2 package is installed. Refer to ##Resources for install instructions.

Step 1, download

download Dockerfile from this repo

Step 2, docker build for Nvidia GPU

under the same folder with file downloaded at step 1, run the following command to build docker image

docker build --rm --pull --build-arg from=nvidia/opengl:1.0-glvnd-runtime-ubuntu18.04 -t ros:nvidia .

Step 3, run ROS image

Pre-setup

docker network create foo
xhost +local:docker

Terminal 1

nvidia-docker run \
              -it --rm \
              --net foo \
              --name master \
              ros:nvidia \
              roscore

Terminal 2

nvidia-docker run \
              -it --rm \
              --net foo \
              --name talker \
              -v /tmp/.X11-unix:/tmp/.X11-unix \
              --env DISPLAY=unix$DISPLAY \
              --env ROS_HOSTNAME=talker \
              --env ROS_MASTER_URI=http://master:11311 \
              -v /home/xiaojun/sandbox/ros_pkgs:/opt/ros/melodic/share/catkin_ws/src \
              -v /home/xiaojun/sandbox/libs:/opt/libs \
              -v /home/xiaojun/sandbox/data:/opt/data \
              ros:nvidia

Note: the above -v entries map folders inside the container to local folder, to support file copy in/out of the container.

if needed, can create more ros entries, Terminal-i

nvidia-docker exec -it talker bash
source /opt/ros/melodic/share/catkin_ws/devel/setup.bash
...

Resources

Make sure the ros installation key is the latest (the old one is not valid anymore) inside Dockerfile

https://answers.ros.org/question/325039/apt-update-fails-cannot-install-pkgs-key-not-working/

Install Nvidia-Docker 2.0 on Ubuntu 18.04

https://medium.com/@linhlinhle997/how-to-install-docker-and-nvidia-docker-2-0-on-ubuntu-18-04-da3eac6ec494

or

https://cnvrg.io/how-to-setup-docker-and-nvidia-docker-2-0-on-ubuntu-18-04/