Attention

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

Dockerized ROS Environment

This script allows you to create docker containers where you can run graphical programs like Gazebo without much effort. This automation mimics your local installation and allows you to run your programs in a sandbox environment. It mounts your home directory to the container and shares the same user variables.

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_DISTRO=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. The script builds the image with ROS version described in ROS_DISTRO environment variable. It could be set to versions of ROS which are published in docker hub.

ROS_DISTRO=humble ./dockerize.sh build

Run images

./dockerize.sh run

The user does not belong to any group in the first run. You can check it by running groups command. Thus, after logging in to the container, you need to log in again to be in the groups where your local user belongs. This is necessary to access the devices like /dev/dri and /dev/snd, etc.

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

Upon running the container, you may use TMUX or VSCode remote development to do development.

Attaching running container

ROS_DISTRO=humble ./dockerize.sh attach

Stopping running container

ROS_DISTRO=humble ./dockerize.sh stop

Cleaning detached containers

ROS_DISTRO=humble ./dockerize.sh clean

Nvidia driver setup inside the container

On the host

export NVIDIA_DRIVER_VERSION="$(nvidia-smi --query-gpu=driver_version --format=csv,noheader)"
wget http://us.download.nvidia.com/XFree86/Linux-x86_64/"$NVIDIA_DRIVER_VERSION"/NVIDIA-Linux-x86_64-"$NVIDIA_DRIVER_VERSION".run
mv NVIDIA-Linux-x86_64-"$NVIDIA_DRIVER_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.