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ROS + NVIDIA

TL;DR: Run ./build.sh in this directory.

We cannot simply build our image from osrf/ros:kinetic-desktop-full-xenial as it lacks the OpenGL pieces required to make the visualization applications work. Instead, we're building from nvidia/cudagl:9.0-base-ubuntu16.04 (Ubuntu Xenial) and install ros-kinetic-desktop-full from the package manager. Since this brings in an outdated version of Gazebo 7, we also upgrade gazebo7 using its official sources.

To build the image, run

docker build -t sunside/ros-gazebo-gpu:kinetic-nvidia -f kinetic.Dockerfile .

A ros user (password ros) will be created with default user and group IDs (1000:1000). If you need different values, specify the ROS_USER_ID and ROS_GROUP_ID build arguments:

docker build \
    --build-arg ROS_USER_ID=1000 \
    --build-arg ROS_GROUP_ID=1000 \
    -t sunside/ros-gazebo-gpu:kinetic-nvidia \
    -f kinetic.Dockerfile .

If the directory the script is started in contains a Catkin workspace, it will automatically source the devel/source.bash script.