nvidia-egl-desktop-ros2

Introduction

This is a Dockerfile to use ROS2 on KDE Plasma Desktop container with NVIDIA GPU.
This Dockerfile is based on selkies-project/docker-nvidia-egl-desktop.

If you are interested in ROS1 version, please check atinfinity/nvidia-egl-desktop-ros.

Requirements

• NVIDIA graphics driver 450.80.02+ ¹
• Docker
• nvidia-docker2

Build docker image

ROS2 Foxy

cd foxy
docker build -t nvidia-egl-desktop-ros2:foxy .

ROS2 Galactic

cd galactic
docker build -t nvidia-egl-desktop-ros2:galactic .

ROS2 Humble

cd humble
docker build -t nvidia-egl-desktop-ros2:humble .

Launch docker container

Execute the command described below.
If you customize setting, please read https://github.com/selkies-project/docker-nvidia-egl-desktop/blob/main/README.md.

ROS2 Foxy

docker run --gpus 1 -it --shm-size=1024m -e SIZEW=1920 -e SIZEH=1080 -e PASSWD=mypasswd -e BASIC_AUTH_PASSWORD=mypasswd -e NOVNC_ENABLE=true -p 6080:8080 nvidia-egl-desktop-ros2:foxy

ROS2 Galactic

docker run --gpus 1 -it --shm-size=1024m -e SIZEW=1920 -e SIZEH=1080 -e PASSWD=mypasswd -e BASIC_AUTH_PASSWORD=mypasswd -e NOVNC_ENABLE=true -p 6080:8080 nvidia-egl-desktop-ros2:galactic

ROS2 Humble

docker run --gpus 1 -it --shm-size=1024m -e SIZEW=1920 -e SIZEH=1080 -e PASSWD=mypasswd -e BASIC_AUTH_PASSWORD=mypasswd -e NOVNC_ENABLE=true -p 6080:8080 nvidia-egl-desktop-ros2:humble

Access KDE Plasma Desktop via web browser

Browse http://127.0.0.1:6080/.
In this docker container, default account is user.
You can set password via PASSWD and BASIC_AUTH_PASSWORD when you execute docker run. The default password is mypasswd.

Footnotes

1. https://github.com/selkies-project/docker-nvidia-egl-desktop/blob/main/README.md ↩