Oh, this thread slipped past me. Thanks for the shout out @esteve.
[quote="esteve, post:9, topic:1280"]
is
https://github.com/NVIDIA/nvidia-docker/issues/11 still relevant or it's just a problem on my end?
[/quote]
I've been using both nvidia and intel graphics for OpenGL dependent ROS apps inside containers just fine for the past year or more. I just tested both nvidia and intel methods now as described in the [ros wiki you linked](
http://wiki.ros.org/docker/Tutorials/Hardware%20Acceleration), and rviz and gazebo render just fine with both discrete and integrated graphic cards that I have. Rviz is buttery smooth for both intel and nvidia, however qzclient only has a decent frame rate on my 4K host's screen if I either switch to my discrete nvidia card, or shrink the ogre3d preview to something smaller than fullscreen. Also note, that when you start gazebo for the first time in a fresh container, it'll take a bit before you see the rendered preview, as I think gazebo is initializing (downloading?) some files on first startup, so perhaps best to make a volume for that to make them persistent between runs and save time.
Here is my setup for reference:
``` bash
$ uname -a
Linux dox 4.9.0-040900-generic #201612111631 SMP Sun Dec 11 21:33:00 UTC 2016 x86_64 x86_64 x86_64 GNU/Linux
$ lsb_release -a
No LSB modules are available.
Distributor ID: Ubuntu
Description: Ubuntu 16.04.2 LTS
Release: 16.04
Codename: xenial
$ lspci -v | less
00:02.0 VGA compatible controller: Intel Corporation Skylake Integrated Graphics (rev 06) (prog-if 00 [VGA controller])
DeviceName: Onboard IGD
Subsystem: Dell Skylake Integrated Graphics
Flags: bus master, fast devsel, latency 0, IRQ 127
Memory at db000000 (64-bit, non-prefetchable) [size=16M]
Memory at 70000000 (64-bit, prefetchable) [size=256M]
I/O ports at f000 [size=64]
[virtual] Expansion ROM at 000c0000 [disabled] [size=128K]
Capabilities: <access denied>
Kernel driver in use: i915
Kernel modules: i915
...
01:00.0 3D controller: NVIDIA Corporation GM107M [GeForce GTX 960M] (rev a2)
Subsystem: Dell GM107M [GeForce GTX 960M]
Flags: bus master, fast devsel, latency 0, IRQ 138
Memory at dc000000 (32-bit, non-prefetchable) [size=16M]
Memory at b0000000 (64-bit, prefetchable) [size=256M]
Memory at c0000000 (64-bit, prefetchable) [size=32M]
I/O ports at e000 [size=128]
[virtual] Expansion ROM at dd000000 [disabled] [size=512K]
Capabilities: <access denied>
Kernel driver in use: nvidia
Kernel modules: nvidiafb, nouveau, nvidia_375_drm, nvidia_375
$ nvidia-docker run --rm nvidia/cuda nvidia-smi
Wed Mar 15 05:38:39 2017
+-----------------------------------------------------------------------------+
| NVIDIA-SMI 375.26 Driver Version: 375.26 |
|-------------------------------+----------------------+----------------------+
| GPU Name Persistence-M| Bus-Id Disp.A | Volatile Uncorr. ECC |
| Fan Temp Perf Pwr:Usage/Cap| Memory-Usage | GPU-Util Compute M. |
|===============================+======================+======================|
| 0 GeForce GTX 960M Off | 0000:01:00.0 Off | N/A |
| N/A 52C P0 N/A / N/A | 1433MiB / 2002MiB | 6% Default |
+-------------------------------+----------------------+----------------------+
$ nvidia-docker -v
Docker version 1.13.1, build 092cba3
```
The latest kernel/nvidia driver/plugin are not really necessary, I recall everything working fine stock trusty.
One thing I'd like to try and do is create a command line tool and bootstraps a development container, mounting your source workspaces, attaches devices and display/audio unix sockets, maintains your user permissions, attach containers to host's subnets, etc. Sort of like parts done with docker-browser-box, but only more ROS focused. I wonder if I go searching again if I'd find another project already doing this for general desktop applications.
https://github.com/sameersbn/docker-browser-box
If you'd like to dockerize other common CLI/GUI apps, I'd highly recommend checking out Jess Frazelle's collection of dockerfiles for desktop applications from android IDEs, virtualbox, wine, vlc, spotify, htop, ect:
https://github.com/jessfraz/dockerfiles
---
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