Dockerfile

FROM ros:kinetic-ros-base
# e.g. FROM osrf/ros:kinetic-desktop-full

# optional, if the default user is not "root", you might need to switch to root here and at the end of the script to the original user again.
# e.g.
# USER root

RUN apt-get update && apt-get install -y --no-install-recommends \
        pkg-config \
        libxau-dev \
        libxdmcp-dev \
        libxcb1-dev \
        libxext-dev \
        libx11-dev && \
    rm -rf /var/lib/apt/lists/*

# replace with other Ubuntu version if desired
# see: https://hub.docker.com/r/nvidia/opengl/
COPY --from=nvidia/opengl:1.0-glvnd-runtime-ubuntu16.04 \
  /usr/local/lib/x86_64-linux-gnu \
  /usr/local/lib/x86_64-linux-gnu

# replace with other Ubuntu version if desired
# see: https://hub.docker.com/r/nvidia/opengl/
COPY --from=nvidia/opengl:1.0-glvnd-runtime-ubuntu16.04 \
  /usr/local/share/glvnd/egl_vendor.d/10_nvidia.json \
  /usr/local/share/glvnd/egl_vendor.d/10_nvidia.json

RUN echo '/usr/local/lib/x86_64-linux-gnu' >> /etc/ld.so.conf.d/glvnd.conf && \
    ldconfig && \
    echo '/usr/local/$LIB/libGL.so.1' >> /etc/ld.so.preload && \
    echo '/usr/local/$LIB/libEGL.so.1' >> /etc/ld.so.preload

# nvidia-container-runtime
ENV NVIDIA_VISIBLE_DEVICES \
    ${NVIDIA_VISIBLE_DEVICES:-all}
ENV NVIDIA_DRIVER_CAPABILITIES \
    ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics

# USER original_user
# install bootstrap tools
RUN apt-get update && apt-get install --no-install-recommends -y \
    ros-kinetic-gazebo-* \
  && rm -rf /var/lib/apt/lists/*

CMD [ "gazebo" ]