Install Dependencies

Step 1: Install Docker

• Follow the Docker installation instructions.
• Complete the Linux Postinstall steps to allow you to manage Docker as a non-root user.

Step 2: Set up Nvidia Container Toolkit

• Follow Nvidia's instructions to install the Nvidia Container Toolkit for Ubuntu.
  • Side note - on Intel graphics machines, see rocker instructions on configuring to use Intel vs Nvidia graphics: https://github.com/osrf/rocker/tree/main?tab=readme-ov-file#intel-integrated-graphics-support

Step 3: Install Rocker

• The recommended installation method is to use apt for the Debian package (python3-rocker). The Debian packages are available from the ROS repositories, but which ROS repository you use will depend on which release of Ubuntu is on your host:
  • <= Ubuntu 20.04: Because ROS1 compatibility only goes through 20.04 (focal), the rocker Debian package is best access through the ROS 1 repository, i.e, from the noetic install:

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt install curl # if you haven't already installed curl
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

• >= Ubuntu 22.04: The rocker Debian package is also included in the ROS 2 repositories. The correlation between Ubuntu and ROS2 distributions is more complex - see REP-2000. From the jassy install

sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

• Install Rocker using one of the methods given in the official installation instructions (either using apt with the Debian package or using pip install).

sudo apt install python3-rocker

Note: Some use cases and run.bash options currently require installing the latest version of rocker using the instructions listed in the "Development" section. These include

• experimental CUDA library support
• overriding the local user name to produce the CI image
• novnc
• mounting local directories other than home