update docker container to add nvidia stuff

Author: Cionix90

Dockerfile_1

@@ -46,9 +46,11 @@ RUN curl https://packages.osrfoundation.org/gazebo.gpg --output /usr/share/keyri
 RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
 RUN echo " CURL DONE"
 
-RUN sudo  apt-get update 
-RUN sudo apt-get install -y gz-harmonic
+RUN   apt-get update 
+RUN  apt-get install -y gz-harmonic
 RUN echo "Ignition Installed"
+RUN apt-get update
+RUN apt-get upgrade -y
 
 # install 
 # Adapt your desired python version here    
@@ -94,7 +96,7 @@ RUN pipx install numpy
 # Set up auto-source of workspace for ros user
 ARG WORKSPACE=docker_navigation
 WORKDIR /home/ros/${WORKSPACE}
-
+RUN sudo usermod -a -G render,avahi,video ${USERNAME}
 RUN echo "source /opt/ros/${DISTRO}/setup.bash" >> ~/.bashrc
 
 RUN echo "if [ -f ~/${WORKSPACE}/install/setup.bash ]; then source ~/${WORKSPACE}/install/setup.bash; fi" >> /home/ros/.bashrc

README.md

@@ -1,2 +1,27 @@
-# docker_navigation
-it is a repo cointain a set of robots and their urdf model to be simulated on ignition gazebo
+# Dockerized Gazebo Harmonic Simulator 
+## introduction
+This repository contains a docker compose structure to simulate robots in Gazebo Sim Harmonic supported by ROS2 jazzy on ubuntu 24.04.
+The Repository purpose is to provide an easy set up to allow robotic software developer to test their own controller in simulation.
+## prerequisite  
+
+Docker Engine: follow the docker engine installation [here](https://docs.docker.com/engine/install/ubuntu/) and then enable the docker usage as non-root user as specified [here](https://docs.docker.com/engine/install/linux-postinstall/)
+
+Install Nvidia Driver: TODO
+
+Nvidia-Container-Toolkit: follow the nvidia-container-toolkit following [this](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html)
+
+## Build 
+
+``` bash compose_build.bash ```
+
+## Start Compose 
+
+``` docker compose up -d ```
+
+``` docker compose exec ros2_shell bash ```
+
+## NVIDIA stuff test 
+
+To test the correct isntallation of the nvidia support you have to start the container and call
+
+``` nvidia-smi```

compose.yaml

@@ -23,13 +23,30 @@ services:
       - HISTFILE=/home/ros/.bash_history
       - HISTFILESIZE=10000
       - RCUTILS_COLORIZED_OUTPUT=1
+      - GZ_VERSION=harmonic
+      - NVIDIA_VISIBLE_DEVICES=all
+      - NVIDIA_DRIVER_CAPABILITIES=all,graphics,display,video,utility,compute
+      - GZ_VERSION=harmonic
+      - IGN_VERSION=harmonic
+      - IGNITION_VERSION=harmonic
+      # Add these OpenGL related variables
+      - __GL_SYNC_TO_VBLANK=0
+      - __GL_SYNC_DISPLAY_DEVICE=${DISPLAY}
+      - MESA_GL_VERSION_OVERRIDE=3.3
     privileged: true  # Fixed spelling and removed duplicate
     volumes:
       - /tmp/.X11-unix:/tmp/.X11-unix:rw
       # - /tmp/.docker.xauth:/tmp/.docker.xauth:rw
       - ~/.bash_history:/home/ros/.bash_history
       - /home/punk-opc/Documents/docker_navigation:/home/ros/docker_simulation_ws
       - /dev/input:/dev/input
+      - /dev/dri:/dev/dri
+      - /dev/nvidia0:/dev/nvidia0
+      - /dev/nvidiactl:/dev/nvidiactl
+      - /dev/nvidia-modeset:/dev/nvidia-modeset
+      
+      
+      
 
     # Command to source ROS2 environment and start shell
     command: >
@@ -40,6 +57,17 @@ services:
       "
     devices:
       - /dev/dri:/dev/dri
+      - /dev/nvidia0:/dev/nvidia0
+      - /dev/nvidiactl:/dev/nvidiactl
+      - /dev/nvidia-modeset:/dev/nvidia-modeset
+    runtime: nvidia
+    deploy:
+      resources:
+        reservations:
+          devices:
+            - driver: nvidia
+              count: all
+              capabilities: [gpu]
   # ros2_joy:
   #   build:
   #     dockerfile: Dockerfile_1