## 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
```