Nvidia docker with rviz

Dockerfile

FROM osrf/ros:melodic-desktop-bionic

# setup catkin workspace
ENV CATKIN_WS=/root/catkin_ws
RUN mkdir -p $CATKIN_WS/src
WORKDIR $CATKIN_WS/src

# clone source code
RUN git clone -b melodic-devel https://github.com/ros-visualization/rviz

# install build dependacies
RUN apt-get -qq update && \
    apt-get -qq install -y \
        python-catkin-tools && \
    rosdep update && \
    rosdep install -y \
      --from-paths . \
      --ignore-src \
      --rosdistro ${ROS_DISTRO} \
      --as-root=apt:false && \
    rm -rf /var/lib/apt/lists/*

# build from source
WORKDIR $CATKIN_WS
ENV TERM xterm
ENV PYTHONIOENCODING UTF-8
RUN catkin config \
      --extend /opt/ros/$ROS_DISTRO && \
    catkin build
      # --cmake-args -DCMAKE_BUILD_TYPE=Debug

# setup entrypoint
COPY ./ros_entrypoint.sh /
ENTRYPOINT ["/ros_entrypoint.sh"]

# set environment variables
ENV NVIDIA_VISIBLE_DEVICES ${NVIDIA_VISIBLE_DEVICES:-all}
ENV NVIDIA_DRIVER_CAPABILITIES ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics

Makefile.txt

all: help

help:
	@echo ""
	@echo "-- Help Menu"
	@echo ""
	@echo "   1. make build            - build all images"
	@echo "   1. make clean            - remove all images"
	@echo ""

build:
	@docker build --tagosrf/ros:melodic-rviz .

clean:
	@docker rmi -f osrf/ros:melodic-rviz

ros_entrypoint.sh

#!/bin/bash
set -e

# setup ros environment
source "/opt/ros/$ROS_DISTRO/setup.bash"
source "/root/catkin_ws/devel/setup.bash"
exec "$@"

run.bash

#!/usr/bin/env bash

# Runs a docker container with the image created by build_demo.bash
# Requires
#   docker
#   nvidia-docker2
#   an X server

# Make sure processes in the container can connect to the x server
# Necessary so gazebo can create a context for OpenGL rendering (even headless)
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 --rm \
  --runtime=nvidia \
  --env DISPLAY \
  --env QT_X11_NO_MITSHM=1 \
  --env XAUTHORITY=$XAUTH \
  --volume "$XAUTH:$XAUTH" \
  --volume "/tmp/.X11-unix:/tmp/.X11-unix" \
  osrf/ros:melodic-rviz \
  bash -c "roscore & rviz"