docker: how to use RViz and Gazebo from a container?

edit

Hi there, we got RViz to work through nvidia-docker2 (with OpenGL) by following the guide here: http://wiki.ros.org/action/login/dock...

We had to modify the script a bit to make it work:

# If not working, first do: sudo rm -rf /tmp/.docker.xauth
# It still not working, try running the script as root.

XAUTH=/tmp/.docker.xauth

echo "Preparing Xauthority data..."
xauth_list=$(xauth nlist :0 | tail -n 1 | sed -e 's/^..../ffff/')
if [ ! -f $XAUTH ]; then
    if [ ! -z "$xauth_list" ]; then
        echo $xauth_list | xauth -f $XAUTH nmerge -
    else
        touch $XAUTH
    fi
    chmod a+r $XAUTH
fi

echo "Done."
echo ""
echo "Verifying file contents:"
file $XAUTH
echo "--> It should say \"X11 Xauthority data\"."
echo ""
echo "Permissions:"
ls -FAlh $XAUTH
echo ""
echo "Running docker..."

docker run -it \
    --env="DISPLAY=$DISPLAY" \
    --env="QT_X11_NO_MITSHM=1" \
    --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
    --env="XAUTHORITY=$XAUTH" \
    --volume="$XAUTH:$XAUTH" \
    --net=host \
    --privileged \
    --runtime=nvidia \
    our-nvidia-based-ros-melodic-image-plus-nvidia-env-vars-from-the-guide:latest \
    bash

echo "Done."

Note 1: We added the tail -n 1 into the xauth sequence since the original command resulted in two identical lines after the sed replacement. So we only took one of them.

Note 2: The --net=host and --privileged are only needed if you want to join the host pc network. We added it to test communication with RViz by playing a bag-file from the outside using rosbag play and seeing the images being received by RViz.