incebellipipo / dockerize

Easy dockerization of ROS environment with glx support

Attention

If you are looking for a better solution go and checkout osrf's rocker repository

Dockerized ROS Environment

This "package" allows you to create docker images where you can run graphical programs like Gazebo without effort. Docker image is based on official ROS docker images, but it can easily be changed to something else.

Here is the list that i didn't done yet™:

• Cross platform container support for network and UI operations
• Support for NVidia Graphics Cards

Installation

There is no need to install this "package". But if you wish you can do something like:

1. Create some local directory like ~/.dockerize
2. Clone this repository in ~/.dockerize
3. Create symlink to~./.dockerize/dockerize.sh /usr/local/bin/dockerize
4. Call ROS_VERSION=noetic dockerize anywhere

cd ~
git clone https://github.com/incebellipipo/dockerize .dockerize
sudo ln -s ~/.dockerize/dockerize.sh /usr/local/bin/dockerize

Usage

Build images

Building images is pretty straight forward, only consumed variable here is ROS_VERSION environment variable. It could be set to versions of ROS which are published in docker hub.

export ROS_VERSION=kinetic
./dockerize.sh build

Run images

./dockerize.sh run

In order to run graphics applications like gazebo, you need to be in video group. The user after you logged in to docker container is won't be in all groups where your local user belongs even though all user variables will be shared. As a quick work around you need to be logged in once again by using su command

# Inside Docker
$ su - ${USER}
Password:

I personally recommend tmux after that.

Attaching running container

./dockerize.sh attach

Stopping running container

./dockerize.sh stop

Cleaning detached containers

./dockerize.sh clean

Nvidia driver setup inside the container

On the host

version="$(glxinfo | grep "OpenGL version string" | rev | cut -d" " -f1 | rev)"
wget http://us.download.nvidia.com/XFree86/Linux-x86_64/"$version"/NVIDIA-Linux-x86_64-"$version".run
mv NVIDIA-Linux-x86_64-"$version".run NVIDIA-DRIVER.run

In the container

sudo ./NVIDIA-DRIVER.run -a -N --ui=none --no-kernel-module

Credits: https://stackoverflow.com/a/44187181

Customization

Customize just like create any other Dockerfile.