[BUG]: GPU-Accelerated images, using exclusively CPU instead of GPU (ROS2 humble)

[Manouselis]

Issue Description

I'm composing the gpu accelerated image (using nvidia-desktop.yaml) . However, this gpu accelerated image (humble-desktop-nvidia) is not running on the GPU, using instead the cpu. Even on my Intel i9-13950HX, the simulation is sluggish.

Steps to Reproduce

1. Compose the gpu accelerated docker image ( compose -f nvidia-desktop.yaml up) from the humble branch.
2. Run simulation (e.g., ros2 launch blue_bringup bluerov2.launch.yaml use_sim:=true)
3. Check GPU status (e.g., nvidia-smi)

Expected Behavior

Simulation utilizing the GPU, observable in nvidia-smi and not sluggish.

Error Message

Runtime Environment

Ubuntu 22.04 / Image from ROS2 Humble branch.

Additional Context

log_blue_gpu.zip

[evan-palmer]

Thanks for reporting this @Manouselis! I'll take a look to see what's going on