Docker ROS NVIDIA

Overview

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.

Preliminaries

Install Docker Community Edition (ex Docker Engine) with post-installation steps for Linux.

Install NVIDIA Container Toolkit (nvidia-docker2).

Clone ArduPilot and ArduPilot-Gazebo with

git clone --recursive https://github.com/ArduPilot/ardupilot.git
git clone --recursive https://github.com/ArduPilot/ardupilot_gazebo.git src/ardupilot_gazebo

Usage

Build the docker image (use the -r option to update the underlying images):

./build.bash [-r]

Run the container:

./run.bash

The 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 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.

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.