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I use the latest ros image (e.g., ros:melodic) and install the ROS desktop version (my simple custom Dockerfile for the GUI tools). Then I start all GUI tools with x11docker.

Works like a charm:

$ x11docker --hostnet ros:gui rviz
$ x11docker --hostnet ros:gui rqt_graph

I'm using --hostnet (cf. --network=host) for simplicity. ros:gui is the tag of my custom Docker image.

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