Instructions to bringup the docker environment(ROS 1 noetic with gazebo-11)

• Tested on docker version 20.10.17
• Requires docker compose v2.6.1 or higher

Install the following packages if you have a dedicated nvidia graphics card

• Add the GPG key:

  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
  

• Install the nvidia-docker2 package

  ```
  sudo apt-get update
  ```
  
  ```
  sudo apt-get install -y nvidia-docker2
  ```

• If you are on arch then install nvidia-container-toolkit

  yay -S nvidia-container-toolkit

• Restart the Docker daemon

  sudo systemctl restart docker
  

  Instructions to build the image and run the container

• Place the Dockerfile, and the docker-compose_gpu.yml file inside ~/your_workspace/. NOTE: Your entire src/ folder will be mounted as a volume in the container.

• Replace <workspace> in docker-compose_gpu.yml with your_workspace

• Replace workspace in Dockerfile with your_workspace

• To build the image:

   ./bringup_noetic_devel.sh -c build

  NOTE: This step might be time consuming.

• To run the container:

   cd  ~/your_workspace/
   
   ./bringup_noetic_devel.sh -c run

  Wait for the bash script to execute. In another terminal

   docker-compose -f docker-compose_gpu.yml exec ros_noetic /bin/bash