小编don*_*s20的帖子

我计划在远程服务器上的 docker 中运行 ROS Rviz，期望 Rviz GUI 显示在我的本地计算机上。但我无法完成。任何帮助，将不胜感激。

我在远程服务器上的 ROS docker 镜像基于 ros-melodic-desktop-full 镜像（根据ROS Using Hardware Acceleration with Docker，ros-melodic-desktop-full 已经包含 nvidia-docker2）。下面列出的是我的 Dockerfile：

FROM osrf/ros:melodic-desktop-full

# strace, xterm, mesa-utils are all for debugging X display. Especially, mesa-utils has glxinfo and glxgear
RUN apt-get update && apt-get install -y xauth strace xterm mesa-utils

# nvidia-container-runtime
ENV NVIDIA_VISIBLE_DEVICES \
    ${NVIDIA_VISIBLE_DEVICES:-all}
ENV NVIDIA_DRIVER_CAPABILITIES \
    ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics

# QT_X11_NO_MITSHM is for running X server and X client on different machines.
ENV QT_X11_NO_MITSHM 1

ENTRYPOINT …