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Personally, I have a laptop with native ubuntu install with an nvidia GPU. So I find it easiest to use:

• X11 forwarding for displaying GUI windows
• Hardware acceleration with GPU for rendering in gazebo and rviz
• Host networking to simplify DDS discovery between host and containered programs

I find rocker provides a convenient wrapper around the docker CLI to configure this for any ROS related Docker images:

• https://github.com/osrf/rocker

For example:

rocker --x11 --nvidia --net=host \
  my/navigation2:tag \
  ros2 launch nav2_bringup tb3_simulation_launch.py

Another reference examples of using rocker:

• https://github.com/ros-swg/turtlebot3_demo

Personally, I have a laptop with native ubuntu install with an nvidia GPU. So I find it easiest to use:

• X11 forwarding for displaying GUI windows
• Hardware acceleration with GPU for rendering in gazebo and rviz
• Host networking to simplify DDS discovery between host and containered programs

I find rocker provides a convenient wrapper around the docker CLI to configure this for any ROS related Docker images:

• https://github.com/osrf/rocker

For example:

rocker --x11 --nvidia --net=host \
  my/navigation2:tag \
  ros2 launch nav2_bringup tb3_simulation_launch.py

Another Other reference examples of using rocker:

• https://github.com/ros-swg/turtlebot3_demo