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script_start.txt
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script_start.txt
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# network setup
docker network create foo
xhost +local:docker
# ROS2 docker run command
docker run --rm -it --gpus all \
--net foo \
--name master \
-e DISPLAY \
-e TERM \
-e QT_X11_NO_MITSHM=1 \
-e XAUTHORITY=/tmp/.docker4go9n3_z.xauth \
-v /tmp/.docker4go9n3_z.xauth:/tmp/.docker4go9n3_z.xauth \
-v /tmp/.X11-unix:/tmp/.X11-unix \
-v /etc/localtime:/etc/localtime:ro \
-v /home/xiaojun/sandbox/libs:/opt/libs \
-v /home/xiaojun/sandbox/data:/opt/data \
ros2:nvidia
# ROS2 2nd terminal
nvidia-docker exec -it master bash
# docker build command
docker build -t ros2:nvidia -f Dockerfile.nvidia .
# FASTDDS docker run command
docker run --rm -it --gpus all \
--net foo \
--name fastdds \
-e DISPLAY \
-e TERM \
-e QT_X11_NO_MITSHM=1 \
-e XAUTHORITY=/tmp/.docker4go9n3_z.xauth \
-v /tmp/.docker4go9n3_z.xauth:/tmp/.docker4go9n3_z.xauth \
-v /tmp/.X11-unix:/tmp/.X11-unix \
-v /etc/localtime:/etc/localtime:ro \
-v /home/xiaojun/sandbox/libs:/opt/libs \
-v /home/xiaojun/sandbox/data:/opt/data \
ubuntu-fast-dds:v2.3.0 \
bash