我正在拼命地设置一个基于nvidia/cudagl镜像的Docker镜像，并在其上添加ROS 2卑微的发行版。原因是我需要这个ENV为未来的露台模拟与NVIDIA的GPU能力。

问题是官方的nvidia/cudagl镜像基于ubuntu 20.04，而ROS 2 Humble需要ubuntu 22.04，所以我无法正确构建镜像

任何人都知道我如何制作一个基于cudagl-ubuntu 20. 04的docker镜像，并将其修改为ubuntu22.04之上的一个层所以我将在我的镜像层中得到这样的东西
enter image description here
我基本上遵循了这篇文章，只是有点过时了text
如果你有其他的建议或者可以指导我类似的dockerfile的源代码，那就太好了tnxxxx：））
我尝试使用这个官方的Nvidia Docker文件和作为我的基础图像

FROM nvidia/cudagl:11.4.2-base-ubuntu20.04

并在Ubuntu 22.04（我的机器）上的源代码安装中添加ROS 2 Humble
但它不工作也试图从ubutu 22.04图像的bae构建cudagl图像，只是作为进一步添加ros 2层的基础-但这也无法构建

# Use Ubuntu 22.04 as the base image
FROM ubuntu:22.04 as base

FROM base as base-amd64

ENV NVARCH x86_64

ENV NVIDIA_REQUIRE_CUDA "cuda>=11.4 brand=tesla,driver>=418,driver<419 brand=tesla,driver>=450,driver<451"
ENV NV_CUDA_CUDART_VERSION 11.4.108-1
ENV NV_CUDA_COMPAT_PACKAGE cuda-compat-11-4

FROM base as base-arm64

ENV NVARCH sbsa
ENV NVIDIA_REQUIRE_CUDA "cuda>=11.4"
ENV NV_CUDA_CUDART_VERSION 11.4.108-1

FROM base-${TARGETARCH}

ARG TARGETARCH

LABEL maintainer "NVIDIA CORPORATION <cudatools@nvidia.com>"

RUN apt-get update && apt-get install -y --no-install-recommends \
    gnupg2 curl ca-certificates && \
    curl -fsSL https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2204/${NVARCH}/3bf863cc.pub | apt-key add - && \
    echo "deb https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2204/${NVARCH} /" > /etc/apt/sources.list.d/cuda.list && \
    apt-get purge --autoremove -y curl \
    && rm -rf /var/lib/apt/lists/*

ENV CUDA_VERSION 11.4.2

# For libraries in the cuda-compat-* package: https://docs.nvidia.com/cuda/eula/index.html#attachment-a
RUN apt-get update && apt-get install -y --no-install-recommends \
    cuda-cudart-11-4=${NV_CUDA_CUDART_VERSION} \
    ${NV_CUDA_COMPAT_PACKAGE} \
    && rm -rf /var/lib/apt/lists/*

# Required for nvidia-docker v1
RUN echo "/usr/local/nvidia/lib" >> /etc/ld.so.conf.d/nvidia.conf \
    && echo "/usr/local/nvidia/lib64" >> /etc/ld.so.conf.d/nvidia.conf

ENV PATH /usr/local/nvidia/bin:/usr/local/cuda/bin:${PATH}
ENV LD_LIBRARY_PATH /usr/local/nvidia/lib:/usr/local/nvidia/lib64

# Install OpenGL packages
RUN dpkg --add-architecture i386 \
    && apt-get update && apt-get install -y --no-install-recommends \
        pkg-config \
        libglvnd-dev libglvnd-dev:i386 \
        libgl1-mesa-dev libgl1-mesa-dev:i386 \
        libegl1-mesa-dev libegl1-mesa-dev:i386 \
        libgles2-mesa-dev libgles2-mesa-dev:i386 \
    && rm -rf /var/lib/apt/lists/*

COPY NGC-DL-CONTAINER-LICENSE /

# nvidia-container-runtime
ENV NVIDIA_VISIBLE_DEVICES all
ENV NVIDIA_DRIVER_CAPABILITIES compute,utility