Dockerfile

# syntax = docker/dockerfile:1.2

FROM osrf/ros:foxy-desktop


#using cache for apt and pip installs to speedup building image
ENV PIP_CACHE_DIR=/var/cache/buildkit/pip
RUN mkdir -p $PIP_CACHE_DIR
RUN rm -f /etc/apt/apt.conf.d/docker-clean
RUN apt-key del 421C365BD9FF1F717815A3895523BAEEB01FA116 && \
    apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
RUN apt-get update && apt-get install -yqq --no-install-recommends \
    gnupg2 curl ca-certificates wget && \
    curl -fsSL https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2004/x86_64/7fa2af80.pub | apt-key add - && \
    echo "deb https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2004/x86_64 /" > /etc/apt/sources.list.d/cuda.list && \
    echo "deb https://developer.download.nvidia.com/compute/machine-learning/repos/ubuntu2004/x86_64 /" > /etc/apt/sources.list.d/nvidia-ml.list && \
    apt-get purge --autoremove -y curl \
    && rm -rf /var/lib/apt/lists/*

ENV CUDA_VERSION 11.2.0
ENV DISPLAY unix:1
ENV QT_X11_NO_MITSHM 1

# For libraries in the cuda-compat-* package: https://docs.nvidia.com/cuda/eula/index.html#attachment-a
RUN apt-get update && apt-get install -y --no-install-recommends \
    cuda-cudart-11-2=11.2.72-1 \
    cuda-compat-11-2 \
    && ln -s cuda-11.2 /usr/local/cuda && \
    rm -rf /var/lib/apt/lists/*

# To get glx working
RUN apt-get update \
    && apt-get install -y -qq --no-install-recommends \
    libglvnd0 \
    libgl1 \
    libglx0 \
    libegl1 \
    libxext6 \
    libx11-6 \
    && rm -rf /var/lib/apt/lists/*

RUN apt-get update && apt-get install -y --no-install-recommends \
    ros-foxy-desktop=0.9.2-1* \
    && rm -rf /var/lib/apt/lists/*

# Required for nvidia-docker v1
RUN echo "/usr/local/nvidia/lib" >> /etc/ld.so.conf.d/nvidia.conf \
    && echo "/usr/local/nvidia/lib64" >> /etc/ld.so.conf.d/nvidia.conf

ENV PATH /usr/local/nvidia/bin:/usr/local/cuda/bin:${PATH}
ENV LD_LIBRARY_PATH /usr/local/nvidia/lib:/usr/local/nvidia/lib64

# nvidia-container-runtime
ENV NVIDIA_VISIBLE_DEVICES all
ENV NVIDIA_DRIVER_CAPABILITIES graphics,compute,utility
ENV NVIDIA_REQUIRE_CUDA "cuda>=11.2 brand=tesla,driver>=418,driver<419 brand=tesla,driver>=440,driver<441 driver>=450,driver<451"

ENTRYPOINT []