In the end I followed @Shokman and @gavanderhoorn advice, I am using official ROS docker images, with nvidia following
http://wiki.ros.org/docker/Tutorials/Hardware%20Acceleration .
I also managed to log into docker with a user that is not root and shares the user id with my hosts' user, I prepared a Dockerfile for that and published it here:
https://github.com/v-lopez/docker_images/blob/master/README.md
Instead of tmux I can start terminator and have as many terminals as I want inside the docker, while being able to edit files on my host computer.
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