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Dockerfile
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FROM ros:kinetic-ros-base
# e.g. FROM osrf/ros:kinetic-desktop-full
# optional, if the default user is not "root", you might need to switch to root here and at the end of the script to the original user again.
# e.g.
# USER root
RUN apt-get update && apt-get install -y --no-install-recommends \
pkg-config \
libxau-dev \
libxdmcp-dev \
libxcb1-dev \
libxext-dev \
libx11-dev && \
rm -rf /var/lib/apt/lists/*
# replace with other Ubuntu version if desired
# see: https://hub.docker.com/r/nvidia/opengl/
COPY --from=nvidia/opengl:1.0-glvnd-runtime-ubuntu16.04 \
/usr/local/lib/x86_64-linux-gnu \
/usr/local/lib/x86_64-linux-gnu
# replace with other Ubuntu version if desired
# see: https://hub.docker.com/r/nvidia/opengl/
COPY --from=nvidia/opengl:1.0-glvnd-runtime-ubuntu16.04 \
/usr/local/share/glvnd/egl_vendor.d/10_nvidia.json \
/usr/local/share/glvnd/egl_vendor.d/10_nvidia.json
RUN echo '/usr/local/lib/x86_64-linux-gnu' >> /etc/ld.so.conf.d/glvnd.conf && \
ldconfig && \
echo '/usr/local/$LIB/libGL.so.1' >> /etc/ld.so.preload && \
echo '/usr/local/$LIB/libEGL.so.1' >> /etc/ld.so.preload
# nvidia-container-runtime
ENV NVIDIA_VISIBLE_DEVICES \
${NVIDIA_VISIBLE_DEVICES:-all}
ENV NVIDIA_DRIVER_CAPABILITIES \
${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics
#USER original_user
# install bootstrap tools
RUN apt-get update && apt-get install --no-install-recommends -y \
ros-kinetic-gazebo-* \
&& rm -rf /var/lib/apt/lists/*