initial Docker setup

[dylanvaughn]

@nlamprian can you try:

$ make compile
$ make bringup

and let me know if it works for you? You'll need Docker, docker-compose, and make installed locally.

[nlamprian]

It compiles mostly fine, but the bringup fails

QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
libGL error: No matching fbConfigs or visuals found
libGL error: failed to load driver: swrast
[ WARN] [1612081365.819676832]: OGRE EXCEPTION(3:RenderingAPIException): Unable to create a suitable GLXContext in GLXContext::GLXContext at /build/ogre-1.9-kiU5_5/ogre-1.9-1.9.0+dfsg1/RenderSystems/GL/src/GLX/OgreGLXContext.cpp (line 61)
rviz::RenderSystem: error creating render window: OGRE EXCEPTION(3:RenderingAPIException): Unable to create a suitable GLXContext in GLXContext::GLXContext at /build/ogre-1.9-kiU5_5/ogre-1.9-1.9.0+dfsg1/RenderSystems/GL/src/GLX/OgreGLXContext.cpp (line 61)
[ERROR] [1612081365.864385110]: Unable to create the rendering window after 100 tries.
terminate called after throwing an instance of 'std::logic_error'
  what():  basic_string::_M_construct null not valid
libGL error: No matching fbConfigs or visuals found
libGL error: failed to load driver: swrast
X Error of failed request:  GLXBadContext
  Major opcode of failed request:  151 (GLX)
  Minor opcode of failed request:  6 (X_GLXIsDirect)
  Serial number of failed request:  38
  Current serial number in output stream:  37

[nlamprian]

You can probably replace this with python3-colcon-ros

[nlamprian]

Actually, it's already a dependency of python3-colcon-common-extensions. You may wanna just try removing this line.

[dylanvaughn]

@nlamprian can you try these and see if it fixes things for you?

https://askubuntu.com/a/1211225

jessfraz/dockerfiles#253

[nlamprian]

Indeed, I just needed to install the nvidia driver

[dylanvaughn]

I'm going to redo this PR since the directory rename is giving me some issues...new PR to come shortly.