ros2_docker

「Ubuntu + ROS2 」を含むDocker環境を提供します.
Provides a Docker environment including "Ubuntu + ROS2".

Prerequisites

• docker installed. How to Install(ubuntu20.04)
• nvidia-smi must be available (When using gpu). How to Install(ubuntu20.04)

Quick Start

Run the docker container. Add the --rm option depending on the situation.
※ If you do not want to save your changes, it is recommended to use the --rm option.

Note

It is recommended to add xhost +local: to your .bashrc.

• use gpu

xhost +local:
docker compose up gpu
./login.sh gpu

• without gpu

docker compose up cpu
./login.sh cpu

File sharing (hotst <---> docker)

The folder ~/ros2_docker/docker_share on the host PC and the folder ~/host_files on docker are bind-mounted.
You can communicate in both directions. However, if something in the folder is deleted, it will be reflected in both.

Default config files

.bashrc

The commands are introduced below.

• rs : cd ~/ros2_ws/src
• bashrc : source ~/.bashrc
• ros_make : colcon build --symlink-install is executed no matter what directory you are in

.tmux.conf

writing

Build (option)

If you want to customize .bashrc etc... , please change the files in config/.
After the change, execute the following command.
※ We recommend replacing files with file sharing.

./build.sh

※ In this case, it is necessary to change the image used in run.sh

Details of each branch

writing

Docker tags on hub.docker.com

dockerhub

Related Projects

• https://github.com/masakifujiwara1/cuda_pytorch_ros2_docker
  • under maintenance
• https://github.com/masakifujiwara1/cuda_pytorch_ros1_docker
  • under maintenance
• https://github.com/masakifujiwara1/ros1_docker
  • under maintenance

License

BSD

Tested on ...

• ubuntu 20.04 LTS