Dockerfile to install & run Yolov8 on ROS Noetic (including GPU compability)

Dockerfile for Yolov8 (for GPU compability)

FROM nvidia/cudagl:11.4.2-base-ubuntu20.04

ENV DEBIAN_FRONTEND=noninteractive

# 2. Minimal ros setup and locales configuration
RUN apt-get update && apt-get install -y --no-install-recommends \
    locales \
    lsb-release \
    git \
    python3-pip \
    && pip3 install --no-cache-dir ultralytics \ 
    && dpkg-reconfigure locales \
    && sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' \
    && apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 \
    && apt-get update && apt-get install -y --no-install-recommends \
    ros-noetic-desktop-full \
    python3-rosdep \
    ros-noetic-catkin \
    build-essential \
    cmake \
    && rosdep init && rosdep fix-permissions && rosdep update \
    && echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc \
    && apt-get clean \
    && rm -rf /var/lib/apt/lists/*

# 3. Create catkin workspace
RUN mkdir -p /root/catkin_ws/src
WORKDIR /root/catkin_ws

# 4. Copy your yolov8 repo (which i assumed you have configured yolov8 with ros noetic) from the specified path to catkin_ws/src
COPY /path/to/your/ros_yolov8 /root/catkin_ws/src/ros_yolov8

# 5. Install ROS package dependencies
RUN /bin/bash -c ". /opt/ros/noetic/setup.bash; cd /root/catkin_ws/; catkin_make" \
    && apt-get clean

# Source the setup.bash automatically in future sessions
RUN echo "source /root/catkin_ws/devel/setup.bash" >> ~/.bashrc

# Build the Dockerfile (open a terminal and go to this Dockerfile location)
docker build -t nvidia_ros .
xhost + (to access GUIs from Docker to my Host pc)

# Start a terminal (run the image to create a container)
docker run -it --net=host --gpus all \    --env="NVIDIA_DRIVER_CAPABILITIES=all" \    --env="DISPLAY" \    --env="QT_X11_NO_MITSHM=1" \    --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \    nvidia_ros \    bash

#build command for realsense camera (optional command to run image if you already have a image of Realsense Camera)
docker run -it --net=host --gpus=all -e DISPLAY=${DISPLAY} -e QT_X11_NO_MITSHM=1 -v /tmp/.X11-unix:/tmp/.X11-unix:rw -v /dev:/dev --device-cgroup-rule "c 81:* rmw" --device-cgroup-rule "c 189:* rmw" -v /tmp/.docker.xauth:/tmp/.docker.xauth:rw realsense_ros bash

# Test GUI based tools (run from container terminal itself)
rqt
gazebo
roscore & rviz 

# Check CUDA functionality (run from container terminal itself)
nvidia-smi 

# Check OpenGL functionality (run from container terminal itself)
apt-get install mesa-utils
glxgears

# Command to open rviZ (run from container terminal itself)
export LIBGL_ALWAYS_SOFTWARE=1rviz
(This will only apply to the current terminal session. Once you close the terminal or start a new session, the setting will be lost, and you'll need to set it again.)