Notice

Every reboot, you need enable host for docker to use docker display.

xhost +local:docker

mkdir packages

Build & run docker (This line would be only run once. If you run this line again the container will be reconstructed)

docker compose up -d

Exec

docker container exec -it ros2_foxy_cuda /bin/bash

When first into the docker

ubuntu-drivers autoinstall

apt-get install -y $(nvidia-detector)