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ros-kinetic-nvidia-docker

Extends the osrf/ros:kinetic-desktop-full, 'craymichael / ros-kinetic-nvidia-docker' here images containing opengl, glvnd and cuda 8.0. This makes opengl work from any docker environment when used with nvidia-docker2. Thanks to phromo for the baseline.

Requirements

  • Ubuntu 16.04/18.04/20.04
  • An NVIDIA Gpu and NVIDIA drivers (XOrg not supported)

Installation and Setup

  1. Install docker: here the guide

  2. Install nvidia-docker:

    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

    apt update

    apt install nvidia-docker2

    more information here.

  3. After cloning this repo, run sudo ./build_the_docker.sh to build it and

  4. sudo ./run_the_docker.sh <dockerImageID> to start the container

Execution

Inside the container, to finish the setup and executing the node:

  • source ROS installation: source /opt/ros/kinetic/setup.bash

  • build the ROS workspace: catkin build -DCATKIN_ENABLE_TESTING=0

  • source the ROS packages: source devel/setup.bash

  • run the node: QT_X11_NO_MITSHM=1 rosrun eurobench_state_collector eurobench_state_collector_node.py