Prerequisites

Make sure you meet the following system requirements

Packages Installation

Install rocker for containers

sudo apt install docker.io python3-rocker

Note

python3-rocker is provided by the ROS 2. To install it, you should first configure Ubuntu for ROS 2 repositories. You can refer to the official documentation for installation steps: https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debs.html.

The following steps will guide you in configuring ROS 2 repositories and install python3-rocker:

sudo apt install software-properties-common
sudo add-apt-repository universe
sudo apt update && sudo apt install curl -y
export ROS_APT_SOURCE_VERSION=$(curl -s https://api.github.com/repos/ros-infrastructure/ros-apt-source/releases/latest | grep -F "tag_name" | awk -F\" '{print $4}')
curl -L -o /tmp/ros2-apt-source.deb "https://github.com/ros-infrastructure/ros-apt-source/releases/download/${ROS_APT_SOURCE_VERSION}/ros2-apt-source_${ROS_APT_SOURCE_VERSION}.$(. /etc/os-release && echo $VERSION_CODENAME)_all.deb"
sudo dpkg -i /tmp/ros2-apt-source.deb
sudo apt update
sudo apt install python3-rocker

Install NVIDIA Container Toolkit

  # Setup the APT repository
  curl -fsSL https://nvidia.github.io/libnvidia-container/gpgkey | sudo gpg --dearmor -o /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg \
&& curl -s -L https://nvidia.github.io/libnvidia-container/stable/deb/nvidia-container-toolkit.list | \
  sed 's#deb https://#deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://#g' | \
  sudo tee /etc/apt/sources.list.d/nvidia-container-toolkit.list
  sudo apt-get update
  # Install the container toolkit and restart docker
  sudo apt-get install -y nvidia-container-toolkit
  sudo systemctl restart docker