Dockerfile for ROS-Gaszebo Framework

Automated Build & Run Script

• Automatically detects if an NVIDIA GPU card is present and builds/runs accordingly.

• Mounts the host machine's home directory inside the container under a folder named 'host'.

• Docker should be set up to run without sudo:

  sudo groupadd docker
  sudo usermod -aG docker $USER
  newgrp docker

• (If an NVIDIA GPU card is present!) Installation and setup of Nvidia-Docker required before use:

  • Install nvidia-docker2

    • To allow the Docker container to use the host Linux machine's NVIDIA graphics card, install nvidia-docker2:

    sudo apt-get install nvidia-docker2
    

  ※ If the installation fails? Run the following command:

  sudo apt-get update
  distribution=$(. /etc/os-release;echo $ID$VERSION_ID) \
               && curl -s -L https://nvidia.github.io/nvidia-docker/gpgkey | sudo apt-key add - \
               && curl -s -L https://nvidia.github.io/nvidia-docker/$distribution/nvidia-docker.list | sudo tee /etc/apt/sources.list.d/nvidia-docker.list
  sudo apt-get update
  sudo apt-get install nvidia-docker2
  

• Build the image

  ./build.bash

• Run the image

  xhost +
  ./run.bash

• Connect to a running image

  ./join.bash

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Manual Build & Run

Docker Image Build

• For Linux machines without VMWare or an Nvidia graphics card:

  docker build -f rolling-harmonic.dockerfile -t ros-gazebo:latest .

• For Linux machines with an Nvidia graphics card:

  • Build with an 'nvidia' tag for the ros-gazebo image:

  docker build -f rolling-harmonic-nvidia.dockerfile -t ros-gazebo:nvidia .

Docker Image Run

• For Linux machines without VMWare or an Nvidia graphics card:

  xhost +
  docker run -it --rm --privileged -v /tmp/.X11-unix:/tmp/.X11-unix -e DISPLAY -v ~/:/home/ioes-docker/host ros-gazebo:latest

• For Linux machines with an Nvidia graphics card:

  • Install nvidia-docker2

    • To allow the Docker container to use the host Linux machine's NVIDIA graphics card, install nvidia-docker2:

    sudo apt-get install nvidia-docker2
    

  • Run docker with Nvidia runtime:

    • Set up to use the Nvidia runtime during Docker container execution, and mount the host Linux machine's /dev/dri to the container's /dev/dri:

    xhost +
    docker run --runtime=nvidia --rm --gpus all -v /dev/dri:/dev/dri -it --privileged -v /tmp/.X11-unix:/tmp/.X11-unix -e DISPLAY -v ~/:/home/ioes-docker/host -v "/etc/localtime:/etc/localtime:ro" -e QT_X11_NO_MITSHM=1 --security-opt seccomp=unconfined ros-gazebo:nvidia

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