Dockerfile

FROM pytorch/pytorch:0.4.1-cuda9-cudnn7-devel
ENV TZ=US/Michigan
RUN ln -snf /usr/share/zoneinfo/$TZ /etc/localtime && echo $TZ > /etc/timezone
RUN apt-get update && apt-get install -y \
    git \
    x11-apps \
    mesa-utils \
    libgl1-mesa-glx \
    apt-utils \
    python \
    wget \
    lsb-release \
    git 

RUN apt-get update && apt-get -y install rsync

RUN pip install cython numpy==1.15.4 
RUN pip install numba==0.50.1 matplotlib==2.1.2 
RUN pip install scipy==1.0.0 seaborn==0.9.0 
RUN pip install tqdm==4.19.4 visdom==0.1.8.3
RUN pip install matplotlib
RUN export LD_LIBRARY_PATH="$LD_LIBRARY_PATH:$CUDA_HOME/lib64:$CUDA_HOME/extras/CUPTI/lib64"

RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
RUN curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | apt-key add -


RUN apt-get update && apt-get install -y \
    python-tk \
    ros-kinetic-desktop-full \
    ros-kinetic-move-base \
    ros-kinetic-tf2-sensor-msgs \
    python-rosdep \
    python-rosinstall \
    python-rosinstall-generator \
    build-essential

RUN rosdep init && rosdep update
WORKDIR /root/catkin_ws
RUN pip install rospkg
# RUN catkin_make
RUN echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
ENV ROS_MASTER_URI=http://172.17.0.1:11311
ENV ROS_IP=172.17.0.1
ENV DISPLAY=unix$DISPLAY