nvidia-egl-desktop-ros2

Introduction

This is a Dockerfile to use ROS 2 on KDE Plasma Desktop container with NVIDIA GPU.
This Dockerfile is based on selkies-project/docker-nvidia-egl-desktop.

If you are interested in ROS 1 version, please check atinfinity/nvidia-egl-desktop-ros.

Requirements

• NVIDIA graphics driver 450.80.02+ ¹
• Docker
• NVIDIA Container Toolkit

Build docker image

ROS 2 Foxy

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

ROS 2 Galactic

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

ROS 2 Humble

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

ROS 2 Jazzy

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

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.

ROS 2 Foxy

Note

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.

docker run --gpus 1 -it --shm-size=1024m --pid=host -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

ROS 2 Galactic

Note

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.

docker run --gpus 1 -it --shm-size=1024m --pid=host -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

ROS 2 Humble

Note

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.

docker run --gpus 1 -it --shm-size=1024m --pid=host -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

ROS 2 Jazzy

Note

In this docker container, default account is ubuntu.
You can set password via PASSWD and SELKIES_BASIC_AUTH_PASSWORD when you execute docker run. The default password is mypasswd.

docker run --gpus 1 -it --shm-size=1024m --pid=host -e DISPLAY_SIZEW=1920 -e DISPLAY_SIZEH=1080 -e PASSWD=mypasswd -e SELKIES_BASIC_AUTH_PASSWORD=mypasswd -e SELKIES_ENABLE_RESIZE=true -e KASMVNC_ENABLE=true -p 6080:8080 nvidia-egl-desktop-ros2:jazzy

Access KDE Plasma Desktop via web browser

Browse http://127.0.0.1:6080/.

Footnotes

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