Initial Dockerfile

[mabelzhang]

Initial Dockerfile with NVIDIA + ROS 2 Humble + Gazebo Garden binary installs.

To test, follow README.md.

Future work

• We'll need to add instructions for installing nvidia-docker2, which we can just point to the SubT instructions https://github.com/osrf/subt/wiki/Docker%20Install Or if we want to make this repo self-contained, we can steal from SubT. Update: Added link to README

• We'll hopefully have an alternative Docker image for machines without NVIDIA card, using Mesa's LLVMpipe to do software rendering Update: done.

[mabelzhang]

As of b1e9b80 and 2f99a72, the Dockerfile should now work for both NVIDIA and no-NVIDIA. The difference is in the base image. By default, it will build with the NVIDIA base image. Use --no-nvidia flag with build.bash to build with the ubuntu:jammy image.

A note (thanks @iche033) on xauth block in run.bash: Re these messages:

xauth:  /tmp/.docker.xauth not writable, changes will be ignored
xauth: (argv):1:  unable to read any entries from file "(stdin)"
chmod: changing permissions of '/tmp/.docker.xauth': Operation not permitted

I replaced the hardcoded :0 with $DISPLAY in 2f99a72. Chris, see if that makes those messages go away for you. For me, the block does nothing either way, as it doesn't have permission to create the /tmp/.docker.xauth file. It's just an empty directory for me, but the GUIs work, so I've always ignored those messages. I added a Troubleshoot note in README to ignore it. If the behavior is different for you, we'll want to fix that block so that it actually gets rid of the errors, and document that in the README.