Dockerfile build reference: https://roboticseabass.com/2021/04/21/docker-and-ros/

#Build docker:

sudo docker build -f Dockerfile -t custom-nvidia-noetic-v1.0:MRSD-S2023 .

Running once built: #Give permissions: (!!This command will allow the docker to use your system GUI by accessing the Xserver for - ex. launching rqt)

xhost +local:

This is not that huge of a problem but users should be cognizant about the effects of this command. After you are done using the docker just remember to run xhost - To restore your previous settings

#docker run: get DOCKER_IMAGE_ID from:

sudo docker images

copy it and replace the DOCKER_IMAGE_ID at the end of this command to run the docker:

sudo docker run --privileged -it -e DISPLAY -e QT_X11_NO_MITSHM=1 -v /tmp/.X11-unix:/tmp/.X11-unix:rw -v ~/:/home DOCKER_IMAGE_ID

#docker exec: Run the following command to find the CONTAINER_ID

sudo docker ps 

Exec will help you enter the same running docker from a different terminal. use it to use enter the running docker by copying and replacing CONTAINER_ID in the following command:

sudo docker exec -it CONTAINER_ID bash

After you enter the docker - the docker by default will mount your /home folder

cd /home

So you can now move to where you want and use it as you would use your normal system.

TODO: use docker compose to run docker