docker 内运行ros 以及rivz

1. 安装显卡驱动以及Nvidia docker image
   显卡驱动安装教程
   安装Nvidia docker image
2. 创建Dockerfile

FROM osrf/ros:melodic-desktop-full

# nvidia-container-runtime
ENV NVIDIA_VISIBLE_DEVICES \
   ${NVIDIA_VISIBLE_DEVICES:-all}
ENV NVIDIA_DRIVER_CAPABILITIES \
   ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics


 
RUN apt-get update && \
apt-get install -y \
build-essential \
libgl1-mesa-dev \
libglew-dev \
libsdl2-dev \
libsdl2-image-dev \
libglm-dev \
libfreetype6-dev \
libglfw3-dev \
libglfw3 \
libglu1-mesa-dev \
freeglut3-dev \
vim

3. 创建镜像

docker build -t my_melodic_image .

4. 创建脚本

XAUTH=/tmp/.docker.xauth
if [ ! -f $XAUTH ]
then
    xauth_list=$(xauth nlist :0 | sed -e 's/^..../ffff/')
    if [ ! -z "$xauth_list" ]
    then
        echo $xauth_list | xauth -f $XAUTH nmerge -
    else
        touch $XAUTH
    fi
    chmod a+r $XAUTH
fi

docker run -it \
    --env="DISPLAY=$DISPLAY" \
    --env="QT_X11_NO_MITSHM=1" \
    --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
    --env="XAUTHORITY=$XAUTH" \
    --volume="$XAUTH:$XAUTH" \
    --runtime=nvidia \
    my_melodic_image \
    bash

最后运行脚本即可