ROS Kinetic + Gazebo on Docker HOWTO
This tutorial is focused on those people that have Ubuntu 14.04 + ROS Indigo and they want to run Gazebo 7 or later.
Step 1: Install Docker
Install docker https://docs.docker.com/engine/installation/linux/ubuntu/
To run docker without super user:
sudo groupadd docker
sudo gpasswd -a ${USER} docker
sudo service docker restart
Step 2: Use NVIDIA acceleration
Install nvidia-docker (to get HW acceleration) https://github.com/NVIDIA/nvidia-docker/wiki
Step 3: Creating the container
This repository contain the Dockerfile. Move into the directory containing the file and type
The command below will create the container from the base image if it doesn't exist and log you in.
docker build -t ros-kinetic-gazebo7 .
Step 4: Start the container
To make it easier, I created the launcher launch_docker.sh (you might need to call chmod +x ./launch_docker.sh first).
./launch_docker.sh