Docker: Add option to select nvidia runtime.

docker/build/dev.x86_64.dockerfile

@@ -32,7 +32,6 @@ RUN bash /tmp/installers/post_install.sh
 RUN apt-get install -y \
    bc \
    cppcheck \
-   cuda \
    debconf-utils \
    doxygen \
    graphviz \

docker/build/installers/install_user.sh

@@ -23,6 +23,7 @@ USER_NAME=apollo
 
 adduser --disabled-password --gecos '' ${USER_NAME}
 usermod -aG sudo ${USER_NAME}
+echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
 
 echo """
 ulimit -c unlimited

docker/canary/README.md

@@ -8,6 +8,25 @@
    sudo bash ./docker/canary/setup_host.sh
    ```
 
+1. If you are going to use GPU (recommended), you need to install
+   [nvidia-driver](http://www.nvidia.com/Download/index.aspx) and
+   [nvidia-docker](https://github.com/NVIDIA/nvidia-docker/blob/master/README.md#quickstart)
+   on HOST.
+
+   Nvidia-driver provides access to GPU from HOST, which will make the following
+   command work properly:
+
+   ```bash
+   nvidia-smi
+   ```
+
+   Nvidia-docker provides access to GPU from docker container, which will make
+   the following command work properly:
+
+   ```bash
+   docker run --runtime=nvidia --rm nvidia/cuda nvidia-smi
+   ```
+
 1. Start Apollo dev container.
 
    ```bash

docker/canary/start_container.py

@@ -60,6 +60,11 @@ def __init__(self):
                                  help='Optional maps. Make sure it is '
                                  'available as docker volume image at '
                                  '<REPO>:map_volume-<MAP>-latest.')
+        self.parser.add_argument('--without_gpu', default=False,
+                                 action="store_true",
+                                 help='Whether to use GPU. Note that without '
+                                 'GPU, it might be not efficient enough for '
+                                 'road testing.')
 
         self._args = None
 
@@ -146,6 +151,8 @@ def __init__(self, args):
             '--hostname in_dev_docker',
             '--shm-size 2G',
         ]
+        if not args.without_gpu:
+            self.other_options.append('--runtime nvidia')
 
     def add_map_volume(self, repo, map_name, version='latest'):
         """Add map volume to apollo container."""