osrf/ros images with added patch to fix opengl based GUIs like rviz under nvidia
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This repo hosts Dockerfiles that apply a patch on top of the osrf/ros docker images. This patch fixes opengl based programs when run under docker with nvidia acceleration.
The patch basicaly consists of adding libglvnd and activating it for nvidia.
NOTE: The patching methodology in this repo can be applied similarly on other docker images as well. Feel free to use the generic
patch-opengl-<ubuntu_version>.dockerfilefor your own uses.
These instructions are for docker version 19.03 or later, which removes the need for nvidia-docker2 However, this should work well under nvidia-docker v2 as well.
To verify if your prerequisites work, you should be able to see a table with nvidia details when you run:
docker run --gpus all nvidia/cuda:9.0-base nvidia-smi
I usually add these to my .bashrc (but you can also run them manually on each shell if you prefer):
# prepare for running dockerized GUIs
xhost +local:docker &> /dev/null # actually only needs to be run once per system boot (though rerunning is harmless, so you can also just put it in your .bashrc)
DOCKER_COMMON_ARGS="--gpus all --env=NVIDIA_VISIBLE_DEVICES=all --env=NVIDIA_DRIVER_CAPABILITIES=all --env=DISPLAY --env=QT_X11_NO_MITSHM=1 -v /tmp/.X11-unix:/tmp/.X11-unix:rw"
# Feel free to add e.g. "--privileged" or remove things from DOCKER_COMMON_ARGS to, if you want
# For Intel graphics, you'll want to remove "--gpus all --env=NVIDIA_VISIBLE_DEVICES=all --env=NVIDIA_DRIVER_CAPABILITIES=all"
# and add "--device=/dev/dri:/dev/dri"
Normally, you could use e.g. these commands:
# start a roscore (if none is running already)
docker run -it --rm --net=host --privileged $DOCKER_COMMON_ARGS osrf/ros:kinetic-desktop-full roscore
# run rviz
docker run -it --rm --net=host --privileged $DOCKER_COMMON_ARGS osrf/ros:kinetic-desktop-full rviz
These would work fine on Intel graphics (given that you adjusted DOCKER_COMMON_ARGS for Intel
Graphics as suggested above), but won't work on Nvidia graphics.
For Nvidia, you can now use these commands instead:
# start a roscore (if none is running already)
docker run -it --rm --net=host --privileged $DOCKER_COMMON_ARGS koenlek/ros-nvidia:kinetic-desktop-full roscore
# run rviz
docker run -it --rm --net=host --privileged $DOCKER_COMMON_ARGS koenlek/ros-nvidia:kinetic-desktop-full rviz
Good news! This should work with the vanilla docker images (as they already contain libglvnd):
# start a roscore (if none is running already)
docker run -it --rm --net=host --privileged $DOCKER_COMMON_ARGS osrf/ros:melodic-desktop-full roscore
# run rviz (melodic)
docker run -it --rm --net=host --privileged $DOCKER_COMMON_ARGS osrf/ros:melodic-desktop-full rviz
First, make sure that non-accelerated GUIs work:
docker run -it --rm --net=host --privileged $DOCKER_COMMON_ARGS koenlek/ros-nvidia:kinetic-desktop-full roscore
# run RQT
docker run -it --rm --net=host --privileged $DOCKER_COMMON_ARGS koenlek/ros-nvidia:kinetic-desktop-full rqt
If rqt crashes, then you need to fix running basic GUIs through docker first. Fixing that is out of the scope of this README.
You'll probably see console errors like:
QXcbConnection: XCB error: 2 (BadValue), sequence: 588, resource id: 400, major code: 130 (Unknown), minor code: 3
My experience is that these can safely be ignored.
Content type
Image
Digest
Size
973.9 MB
Last updated
over 5 years ago
docker pull koenlek/ros-nvidia:kinetic-desktop-full