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My solution is to use this image to get it with cuda and opengl. Then installing ros, some tools and the dependencies. Then I create the docker with the following parameters:

docker run –name ContainerName –gpus all –network host –env=DISPLAY –env=NVIDIA_DRIVER_CAPABILITIES=all -env=NVIDIA-VISIBLE_DEVICES=all –env=QT_X11_NO_MITSHM=1 -v /tmp/.X11-unix:/tmp/.X11-unix:rw –runtime=nvidia –privileged -it DockerImage

And it worked!