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93 lines
3.0 KiB
Markdown
93 lines
3.0 KiB
Markdown
# my_ros2_docker_image
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This template repository should give a good overview on how to build your own ROS2 development instance and produce a new hosted docker image out of it.
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For now the steps below are only suited for a existing Ubuntu installation. Windows is for now not supported in this repository.
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## Install dependencies needed for working with docker images and tools to make your life easier
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Using the official Docker convenience installer script, we will install docker and docker compose:
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```
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curl -fsSL https://get.docker.com -o get-docker.sh
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sudo sh get-docker.sh
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```
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Then add yourself to the docker group so you must not always use sudo when tinkering with docker commands:
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```
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sudo groupadd docker
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sudo usermod -aG docker $USER
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```
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Update the group changes:
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```
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newgrp docker
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```
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Source: https://docs.docker.com/engine/install/ubuntu/#install-using-the-convenience-script
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## Simple build
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First things first: Let's begin with a short and simple build. This is a short hello, world! example.
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### Clone this repository to your local machine
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```
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git clone https://github.com/bjoernellens1/ros2_docker_template
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```
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### Build the hello, world! image
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```
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docker buildx bake hello-world --load # to load into local container registry
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```
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or
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```
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docker buildx bake hello-world --push # to push into specified remote container registry
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```
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### Run the hello, world! image
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```
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docker compose run hello-world
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```
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## Advanced build: Custom ROS2 image that includes the Unitree GO1 package.
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```
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docker buildx bake my_example --load # to load into local container registry
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```
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or
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```
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docker buildx bake my_example --push # to push into specified remote container registry
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```
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## To run my_example:
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### Run my_example just once to see if everything's working:
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This will launch the Unitree udp high-level control node.
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```
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docker compose run my_example
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```
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### Run my_example in background
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```
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docker compose up -d my_example
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```
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### Run my_example in foreground
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```
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docker compose up my_example
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```
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### Execute shell inside my_example
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#### If container is stopped
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```
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docker compose run my_example bash
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```
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#### If container is already running
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```
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docker compose exec my_example bash
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```
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### Execute example_program inside my_example
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```
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docker compose run my_example example_program
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```
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You will find that example_program does not exist. Try using rqt for example:
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```
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docker compose run my_example rqt
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```
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## Next steps
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### Fork this repository and make it your own
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### What you will want to change in your repository:
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#### my.repos and my_extended.repos:
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These are yaml files containing the repositories you may want to include into your final ros2 workspace.
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For a multi-stage build for instance, I define my base image repositories in "my.repos" and the extended image repositories in "my_extended.repos"
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## Additional Resources
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For further references please visit my WIP repositories for mobile robotic platforms:
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- https://github.com/bjoernellens1/ros2_rmp
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- https://github.com/bjoernellens1/cps_bot_mini_ws
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