有nv显卡的情况下运行ros rviz 等

安装相关nv工具

sudo apt-get install nvidia-container-runtime
sudo apt-get install nvidia-container-toolkit

https://github.com/NVIDIA/nvidia-container-runtime

运行xserver

终端输入：

xhost +

是使所有用户都能访问Xserver

开启新的容器

命令：

docker run -dt --gpus all -e NVIDIA_VISIBLE_DEVICES=all -e NVIDIA_DRIVER_CAPABILITIES=all -e DISPLAY -v /dev/dri:/dev/dri --env="QT_X11_NO_MITSHM=1" --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" slam_auto_drive:1.0 bash

关于如何启用x11与opengl：

https://github.com/NVIDIA/nvidia-container-runtime

NVIDIA_DRIVER_CAPABILITIES
This option controls which driver libraries/binaries will be mounted inside the container.

Possible values
compute,video, graphics,utility …: a comma-separated list of driver features the container needs.
all: enable all available driver capabilities.
empty or unset: use default driver capability: utility,compute.

Supported driver capabilities
compute: required for CUDA and OpenCL applications.
compat32: required for running 32-bit applications.
graphics: required for running OpenGL and Vulkan applications.
utility: required for using nvidia-smi and NVML.
video: required for using the Video Codec SDK.
display: required for leveraging X11 display.

成功运行 pangolin 程序和 gazebo

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