nvidia-ros-docker

This repo provides a minimal working example of an NVIDIA GPU enabled ROS Noetic container.

Prerequisites

Ensure the following are installed on your host. Instructions may vary depending on your host OS.

1. Docker.
2. NVIDIA drivers.
3. NVIDIA Container Toolkit

So far this only been tested on Linux machines.

Usage

1. Build the image. By default the example targets the name hf/nvidia-ros-noetic.

   docker build -t hf/nvidia-ros-noetic .
   

2. Edit .env environment variable definitions as needed. For example, if the built image has the name user/example-image, change:

   IMAGE=hf/nvidia-ros-noetic
   

   to:

   IMAGE=user/example-image
   

   By default, this repo's data folder is mounted in the bag and rviz containers under /host. bag will look for a rosbag file named test.bag in there to play.

3. Start the containers, either via the example compose-up file:

   ./compose-up
   

   or manually, targeting docker-compose.yaml:

   docker-compose --env-file .env up
   

   Additional configuration for GUIs may be needed depending on your configuration. The ROS tutorial here may be a good place to start.

   Because I'm "lazy and reckless", I have simply adjusted the permissions for the X server host in compose-up prior to launching, reverting when done. Generally, this isn't a good idea.