4. GPU support

Hardware acceleration

To be able to properly use available GPU's it's necessary to follow instructions related to setting up docker container with proper arguments depending on GPU vendor. There are different commands and prerequisites (drivers) for almost every GPU vendor (NVIDIA,ATI,Intel). Rest of this instructions related to graphical rendering are written for NVIDIA GPUs, but here you can find everything else necessary to achieve same behaviour for different GPUs (Intel/ATI).

Some examples can be found in ros-melodic folder, such as moveit_intel_ros (Intel) and moveit_ros (NVIDIA).

How to correctly use OpenGL for better rendering capabilities in container?

Explanation for using ROS + Docker for GUI applications is available here

Explanation of OpenGL + NVIDIA in Docker

Explanation for creating OpenGL image for CUDA applications can be found here.

Available prebuilt nvidia/openGL dockers can be found here