ROS1 navigation on Docker

Dockerfile

FROM nvidia/cudagl:10.2-devel-ubuntu18.04

ENV NVIDIA_VISIBLE_DEVICES ${NVIDIA_VISIBLE_DEVICES:-all}
ENV NVIDIA_DRIVER_CAPABILITIES ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics

# add new sudo user
ENV USERNAME melodic
ENV HOME /home/$USERNAME
RUN useradd -m $USERNAME && \
        echo "$USERNAME:$USERNAME" | chpasswd && \
        usermod --shell /bin/bash $USERNAME && \
        usermod -aG sudo $USERNAME && \
        mkdir /etc/sudoers.d && \
        echo "$USERNAME ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers.d/$USERNAME && \
        chmod 0440 /etc/sudoers.d/$USERNAME && \
        # Replace 1000 with your user/group id
        usermod  --uid 1000 $USERNAME && \
        groupmod --gid 1000 $USERNAME

ENV DEBIAN_FRONTEND noninteractive
RUN apt-get update && apt-get install -y --no-install-recommends \
        sudo \
        less \
        emacs \
        tmux \
        bash-completion \
        command-not-found \
        software-properties-common \
        xsel \
        xdg-user-dirs \
        && \
    apt-get clean && \
    rm -rf /var/lib/apt/lists/*

# ROS Melodic
RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
RUN apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
RUN apt-get update && apt-get install -y --no-install-recommends \
        ros-melodic-desktop-full \
        python-rosdep \
        python-rosinstall \
        python-rosinstall-generator \
        python-wstool \
        build-essential \
        && \
    apt-get clean && \
    rm -rf /var/lib/apt/lists/*

# addtional ROS package
RUN apt-get update && apt-get install -y --no-install-recommends \
        ros-melodic-amcl \
        ros-melodic-slam-gmapping \
        ros-melodic-dwa-local-planner \
        ros-melodic-turtlebot3 \
        ros-melodic-turtlebot3-gazebo \
        ros-melodic-turtlebot3-msgs \
        ros-melodic-turtlebot3-navigation \
        ros-melodic-turtlebot3-slam \
        ros-melodic-turtlebot3-teleop \
        && \
    apt-get clean && \
    rm -rf /var/lib/apt/lists/*

RUN rosdep init

USER $USERNAME
WORKDIR /home/$USERNAME
RUN rosdep update

SHELL ["/bin/bash", "-c"]
RUN echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc && \
    echo "export TURTLEBOT3_MODEL=waffle" >> ~/.bashrc

launch_container .sh

#!/bin/sh

XSOCK=/tmp/.X11-unix
XAUTH=/tmp/.docker.xauth
touch $XAUTH
xauth nlist $DISPLAY | sed -e 's/^..../ffff/' | xauth -f $XAUTH nmerge -

docker run --runtime=nvidia --privileged --rm -it \
           --volume=$XSOCK:$XSOCK:rw \
           --volume=$XAUTH:$XAUTH:rw \
           --volume=$HOME:$HOME \
           --shm-size=1gb \
           --env="XAUTHORITY=${XAUTH}" \
           --env="DISPLAY=${DISPLAY}" \
           --env=TERM=xterm-256color \
           --env=QT_X11_NO_MITSHM=1 \
           --net=host \
           -u "melodic"  \
           ros:melodic \
           bash

ROS1 navigation on Docker

Requirements

• NVIDIA graphics driver >= 440.0
• Docker
• nvidia-docker2

Build Docker image

$ docker build -t ros:melodic .

Create Docker container

$ ./launch_container.sh