Dockerfile nvidia-docker2 ros-kinetic-desktop-full fetch gazebo7

Dockerfile

FROM nvidia/opengl:1.0-glvnd-devel-ubuntu16.04

# nvidia-container-runtime
ENV NVIDIA_VISIBLE_DEVICES \
    ${NVIDIA_VISIBLE_DEVICES:-all}
ENV NVIDIA_DRIVER_CAPABILITIES \
    ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics

# install packages
RUN apt-get update && apt-get install -q -y \
    dirmngr \
    gnupg2 \
    lsb-release \
    && rm -rf /var/lib/apt/lists/*

# setup keys
RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 421C365BD9FF1F717815A3895523BAEEB01FA116

# setup sources.list
RUN echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list

# install bootstrap tools
RUN apt-get update && apt-get install --no-install-recommends -y \
    python-rosdep \
    python-rosinstall \
    python-vcstools \
    && rm -rf /var/lib/apt/lists/*

# setup environment
ENV LANG C.UTF-8
ENV LC_ALL C.UTF-8

# bootstrap rosdep
RUN rosdep init \
    && rosdep update

# install ros packages
ENV ROS_DISTRO kinetic
RUN apt-get update && apt-get install -y \
    ros-kinetic-desktop-full=1.3.2-0* \
    && rm -rf /var/lib/apt/lists/*

RUN apt-get update && apt-get install -y \
    git \ 
    python-catkin-tools \
    vim && \
    mkdir -p ros/kinetic/src && \
    cd ros/kinetic && \
    catkin config --init && \
    catkin config --extend /opt/ros/kinetic && \
    cd src && \
    git clone https://github.com/fetchrobotics/fetch_gazebo.git && \
    sed -i 's/gazebo9/gazebo7/g' ./fetch_gazebo/fetch_gazebo/package.xml && \
    git clone https://github.com/fetchrobotics/fetch_ros.git && \
    cd ../ && \
    rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO}

RUN apt-get install g++ -y 

Inside this Dockefile I then reverted some commits, and ran catkin build

https://gist.github.com/moriarty/4baa481f52d3abebe1ea2c6fe92c99d5

FYI @narora1

the docker file is built on top of nvidia-docker2:

https://gist.github.com/moriarty/8e0bfc320723c96c53a03c1933c5cdbb