Use this repo to create a ros dev environment for Clion with visual interface, X server is linked
You need to do :
sudo docker-compose build
Install nvidia docker passtrhought (this is a workaround for ubuntu 21.04) :
distribution='ubuntu20.04' \
&& curl -s -L https://nvidia.github.io/nvidia-docker/gpgkey | sudo apt-key add -
&& curl -s -L https://nvidia.github.io/nvidia-docker/$distribution/nvidia-docker.list | sudo tee /etc/apt/sources.list.d/nvidia-docker.list
sudo apt-get update sudo apt-get install -y nvidia-docker2 sudo systemctl restart docker
then : sudo docker-compose up -d
Then you need to allow X server com from outsite :
xhost +local:docker
sudo docker exec -it ros /bin/bash
ssh is only used for Clion acess,
follow this guide to configure : https://www.allaban.me/posts/2020/08/ros2-setup-ide-docker/
Please note that clion will upload you project folder to execute it in the container, be carefull when using large files... (add exclude directory for clion)