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gazebo_classic/README.md

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+## Build Image
+
+ROS Noetic + Gazebo Classic
+
+```
+docker buildx build -f gazebo_classic_sim_dev.dockerfile -t sim_dev:gazebo_classic .
+```
+
+## NOTICE
+When you build code in container with error:
+```
+fatal: detected dubious ownership in repository at '/code/PX4-Autopilot'
+To add an exception for this directory, call:
+git config --global --add safe.directory
+```
+
+you should run this command in container:
+```
+git config --global --add safe.directory '*'
+```
+
+
+## WSL2 With GUI&GPU Support
+
+> NOTICE: replace `~/code` on your host
+
+```
+docker run -it \
+    -v ~/code:/code \
+    -v /tmp/.X11-unix:/tmp/.X11-unix \
+    -v /mnt/wslg:/mnt/wslg \
+    -v /usr/lib/wsl:/usr/lib/wsl \
+    -e DISPLAY=$DISPLAY \
+    -e WAYLAND_DISPLAY=$WAYLAND_DISPLAY \
+    -e XDG_RUNTIME_DIR=$XDG_RUNTIME_DIR \
+    -e PULSE_SERVER=$PULSE_SERVER \
+    --device=/dev/dxg \
+    --device /dev/dri/card0 \
+    --device /dev/dri/renderD128 \
+    --gpus all sim_dev:gazebo_classic
+```
+
+## Ubuntu With GUI&GPU Support
+
+> NOTICE: replace `~/code` on your host
+
+```
+docker run -it \
+    -v ~/code:/code \
+    -v /tmp/.X11-unix:/tmp/.X11-unix \
+    -e DISPLAY=$DISPLAY \
+    --device=/dev/dxg \
+    --device /dev/dri/card0 \
+    --device /dev/dri/renderD128 \
+    --gpus all sim_dev:gazebo_classic
+```
+
+## How to enter container again with bash
+
+```
+docker container ls -a
+
+# start container if not
+docker container start [container id]
+
+docker exec -it [container id] bash
+```