Dockerfiles to build images that have ROS (1 or 2) with NVIDIA support and with GUI support (e.g. Gazebo and RViz).
The build.bash and the run.bash files are used to automatically build and run the image.
Install Docker Community Edition (ex Docker Engine) with post-installation steps for Linux.
Install NVIDIA Container Toolkit (nvidia-docker2).
The docker base image and the ROS version can be changed by modifying the BASE_IMAGE, BASE_TAG, and ROS_NUMBER bash variables in build.bash. To change the image name, modify IMAGE_NAME both in build.bash and run.bash.
Build the docker image (use the -r option to update the underlying images):
./build.bash [-r]Run the container:
./run.bashThe workspace directory should be the folder containing run.bash and build.bash. It is mounted in the Docker container on startup.
Build the workspace inside the Docker container with colcon or catkin to avoid permission problems. The workspace's setup.bash is automatically sourced when the container is opened; thus it will fail the first time the container is run.
Take a look at https://docs.docker.com/develop/develop-images/dockerfile_best-practices/ before modifying the Dockerfile according to your needs.
To use VSCode with Docker, you can use the Dev Containers extension to attach VSCode to a running container. For having autocomplete, linting, etc. take a look at https://github.com/athackst/vscode_ros2_workspace and in particular to c_cpp_properties.json and settings.json in .vscode.