Dockerfile

# Replace base image to have cuda and cudnn and install ros desktop full
FROM nvidia/cuda:9.2-cudnn7-devel-ubuntu18.04

# setup timezone
RUN echo 'Etc/UTC' > /etc/timezone && \
    ln -s /usr/share/zoneinfo/Etc/UTC /etc/localtime && \
    apt-get update && apt-get install -q -y tzdata && rm -rf /var/lib/apt/lists/*

# install packages
RUN apt-get update && apt-get install -q -y \
    dirmngr \
    gnupg2 \
    && rm -rf /var/lib/apt/lists/*

# setup keys
RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

# setup sources.list
RUN echo "deb http://packages.ros.org/ros/ubuntu bionic main" > /etc/apt/sources.list.d/ros1-latest.list

# install bootstrap tools
RUN apt-get update && apt-get install --no-install-recommends -y \
    python-rosdep \
    python-rosinstall \
    python-vcstools \
    && rm -rf /var/lib/apt/lists/*

# setup environment
ENV LANG C.UTF-8
ENV LC_ALL C.UTF-8

# bootstrap rosdep
RUN rosdep init \
    && rosdep update

# install ros packages
ENV ROS_DISTRO melodic
RUN apt-get update && apt-get install -y \
    ros-melodic-desktop-full \
    && rm -rf /var/lib/apt/lists/*

CMD ["bash"]