damanikjosh / virtualgl-turbovnc-ros2-docker

VirtualGL, TurboVNC, and ROS2 Docker image

VirtualGL, TurboVNC, and ROS2 Docker image

Docker hub: damanikjosh/virtualgl-turbovnc-ros2

This image is based on the nvidia/opengl image and adds VirtualGL, TurboVNC, noVNC, and ROS2 to it. It is intended to be used as a base image for running graphical ROS2 applications in a Docker container, such as rviz2 and Gazebo.

Tags

• latest, iron: Ubuntu 22.04 with VirtualGL 3.1, TurboVNC 3.1, and ros-iron-desktop
• humble: Ubuntu 22.04 with VirtualGL 3.1, TurboVNC 3.1, and ros-humble-desktop
• galactic: Ubuntu 20.04 with VirtualGL 3.1, TurboVNC 3.1, and ros-galactic-desktop
• foxy: Ubuntu 20.04 with VirtualGL 3.1, TurboVNC 3.1, and ros-foxy-desktop

Pre-requisites

Before you can use this image, you need to install VirtualGL server on the host system. You can follow the instructions here.

Usage

You can use this image to run graphical applications in a Docker container. You can use the vglrun command to run the graphical applications.

docker run --gpus all --rm -it --network=host -e DISPLAY=:1 damanikjosh/virtualgl-turbovnc-ros2:latest vglrun rviz2

You will require a password to access your desktops.

Password: 
Verify:   
Would you like to enter a view-only password (y/n)? n
xauth:  file /root/.Xauthority does not exist

Desktop 'TurboVNC: joshua-ki:1 ()' started on display joshua-ki:1

Starting applications specified in /opt/TurboVNC/bin/xstartup.turbovnc
Log file is /root/.vnc/joshua-ki:1.log

QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
[INFO] [1709704394.934937411] [rviz2]: Stereo is NOT SUPPORTED
[INFO] [1709704394.935011617] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[INFO] [1709704394.972560374] [rviz2]: Stereo is NOT SUPPORTED

You can customize the container using the following environment variables:

• DISPLAY: The display number to use for VNC. Default is :10.
• VGL_DISPLAY: The display number to use for VirtualGL. Default is :0.
• VNC_PASSWORD: The password for the VNC server. If not set, you will be prompted to enter a password when you run the container.
• VNC_RESOLUTION: The resolution of the VNC server. Default is 1280x800.
• NOVNC_PORT: The port on which the noVNC server will listen. Default is 8080.

To access the VNC server, you can use a VNC client to connect to localhost:$((5900 + DISPLAY)). You can also use a web browser to access the noVNC server at http://localhost:${NOVNC_PORT}.

License

This image is licensed under the MIT License.