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docker_ros_snippets.md

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INSTALL ROS2:HUMBLE

Enable ubuntu universe repo

sudo apt install software-properties-common sudo add-apt-repository universe

Add ROS 2 GPG key with apt:

sudo apt update && sudo apt install curl -y sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg

Add ros2 repository to sources:

echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

Update apt repository & install ros2:

sudo apt update sudo apt upgrade sudo apt install ros-humble-desktop

Source ros2 for initial run:

source /opt/ros/humble/setup.bash

INSTALL GAZEBO

sudo apt-get install ros-${ROS_DISTRO}-ros-gz

SET-UP X11 ON HOST/MAIN UBUNTU

export DISPLAY=:1.0 xhost +local:docker

ROS2:HUMBLE DOCKER RUN COMMAND

docker run -it --net=host -e DISPLAY=$DISPLAY
-v $HOME/.Xauthority:/root/.Xauthority:ro osrf/ros:humble-desktop

CHECK ROS VERSION

echo $ROS_DISTRO

LISTENER/TALKER TESTING

Run talker in docker:

ros2 run demo_nodes_cpp talker o

Run listener on host/main ubuntu:

ros2 run demo_nodes_cpp listener

Run rqt to visualize listener/talker:

rqt # Then Navigate through Plugins > Introspection > Node Graph

Output active ros2 topics:

ros2 topic list

ros2 run demo_nodes_cpp listener

INSTALL DOCKER USING THE APT REPOSITORY

Set up Docker's apt repository

Add Docker's official GPG key:

sudo apt-get update
sudo apt-get install ca-certificates curl
sudo install -m 0755 -d /etc/apt/keyrings
sudo curl -fsSL https://download.docker.com/linux/ubuntu/gpg -o /etc/apt/keyrings/docker.asc
sudo chmod a+r /etc/apt/keyrings/docker.asc

Add the repository to Apt sources:

echo \	
	"deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/docker.asc] https://download.docker.com/linux/ubuntu \
	$(. /etc/os-release && echo "$VERSION_CODENAME") stable" | \
	sudo tee /etc/apt/sources.list.d/docker.list > /dev/null
sudo apt-get update

Install the latest Docker packages

sudo apt-get install docker-ce docker-ce-cli containerd.io docker-buildx-plugin docker-compose-plugin

docker exec -it bash

docker exec -it sh