• Lots of confusion here, the root of the problem is that at some point above it asked me to install docker desktop for linux, which I did, but it nuked a bunch of settings with my base docker setup

• Basically I had previously configed the base docker setup to run without sudo (by adding user to the docker group) as well as configured it to use nvidia gpu, as outlined here:

  https://docs.docker.com/engine/install/ubuntu/#install-using-the-repository

  https://docs.docker.com/engine/install/linux-postinstall/#manage-docker-as-a-non-root-user

  https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html

  Also, NVIDIA users should set their default Docker runtime to the NVIDIA container runtime. You can do this by editing /etc/docker/daemon.json to have the following contents:

  {
      **"default-runtime"**: "nvidia",
      **"runtimes"**: {
          **"nvidia"**: {
              **"path"**: "nvidia-container-runtime",
              **"runtimeArgs"**: []
          }
      }
  }
  

  if you get this random error:

  Failed to initialize NVML: Unknown Error

  try this: https://forums.developer.nvidia.com/t/nvida-container-toolkit-failed-to-initialize-nvml-unknown-error/286219

ROS2 and docker:

• pull the base image for humble desktop:

docker pull osrf/ros:humble-desktop

• run it with