initial commit

build_ros/Dockerfile

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+ARG ROS=humble 
+FROM osrf/ros:${ROS}-desktop
+RUN apt-get update -y
+RUN apt-get install -y ros-galactic-ros-ign-gazebo
+RUN DEBIAN_FRONTEND=noninteractive apt-get install -y xserver-xorg-video-all libgl1-mesa-glx libgl1-mesa-dri libglvnd0 libgl1 libglx0 libegl1 libxext6 libx11-6
+RUN apt-get install -y libvulkan1 mesa-vulkan-drivers vulkan-utils mesa-utils
+ARG UID=1000
+ARG GID=1000
+run groupadd -f -g $GID ros
+RUN useradd -u $UID -g $GID -m ros
+RUN usermod -aG video ros
+RUN usermod -aG render ros

docker-compose.yaml

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+version: "3.2"
+
+services:
+  ros:
+    image: ros/custom
+    build: 
+      context: ./build_ros
+      args:
+        ROS: galactic           #Desired ROS version
+    user: 1000:1000             #Fill in your id's here. (UID:GUI)
+    volumes:
+      - /tmp/.X11-unix:/tmp/.X11-unix:rw
+      - ./ros:/home/ros
+    devices:
+      - /dev/dri:/dev/dri
+    environment:
+      - DISPLAY=$DISPLAY
+      - XAUTHORITY=$XAUTHORITY
+    entrypoint: /bin/bash
+    stdin_open: true
+    tty: true
+    #group_add:
+    #  - video
+    #  - render

start.sh

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+#!/bin/bash
+
+sudo docker-compose build
+sudo docker-compose up -d
+
+up_result=$(sudo docker-compose ps -q)
+
+hosts=()
+
+while read line; do
+  hosts+=(`sudo docker inspect --format='{{ .Config.Hostname }}' $line`)
+  #xhost +local:`sudo docker inspect --format='{{ .Config.Hostname }}' $line`
+done <<< "$up_result"
+
+echo "Adding to xhost:"
+for host in ${hosts[@]}; do
+  echo " + $host"
+  xhost "+local:$host"
+done
+
+echo "Attaching."
+echo "You are ready for shell access."
+sudo docker-compose up
+
+echo "Removing from xhost:"
+for host in ${hosts[@]}; do
+  echo " - $host"
+  xhost "-local:$host"
+done