mirror of
https://github.com/bjoernellens1/ros2_docker_template.git
synced 2024-11-23 15:55:05 +00:00
89 lines
2.8 KiB
Markdown
89 lines
2.8 KiB
Markdown
# my_ros2_docker_image
|
|
|
|
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.
|
|
For now the steps below are only suited for a existing Ubuntu installation. Windows is for now not supported in this repository.
|
|
|
|
## Install dependencies needed for working with docker images and tools to make your life easier
|
|
Using the official Docker convenience installer script, we will install docker and docker compose:
|
|
```
|
|
curl -fsSL https://get.docker.com -o get-docker.sh
|
|
sudo sh get-docker.sh
|
|
```
|
|
Then add yourself to the docker group so you must not always use sudo when tinkering with docker commands:
|
|
```
|
|
sudo groupadd docker
|
|
sudo usermod -aG docker $USER
|
|
```
|
|
Update the group changes:
|
|
```
|
|
newgrp docker
|
|
```
|
|
Source: https://docs.docker.com/engine/install/ubuntu/#install-using-the-convenience-script
|
|
|
|
## Simple build
|
|
First things first: Let's begin with a short and simple build. This is a short hello, world! example.
|
|
### Clone this repository to your local machine
|
|
```
|
|
git clone https://github.com/bjoernellens1/ros2_docker_template
|
|
```
|
|
### Build the hello, world! image
|
|
```
|
|
docker buildx bake hello-world --load # to load into local container registry
|
|
```
|
|
or
|
|
```
|
|
docker buildx bake hello-world --push # to push into specified remote container registry
|
|
```
|
|
### Run the hello, world! image
|
|
```
|
|
docker compose run hello-world
|
|
```
|
|
|
|
## Advanced build: Custom ROS2 image that includes the Unitree GO1 package.
|
|
```
|
|
docker buildx bake my_example --load # to load into local container registry
|
|
```
|
|
or
|
|
```
|
|
docker buildx bake my_example --push # to push into specified remote container registry
|
|
```
|
|
## To run my_example:
|
|
### Run my_example just once to see if everything's working:
|
|
This will launch the Unitree udp high-level control node.
|
|
```
|
|
docker compose run my_example
|
|
```
|
|
### Run my_example in background
|
|
```
|
|
docker compose up -d my_example
|
|
```
|
|
### Run my_example in foreground
|
|
```
|
|
docker compose up my_example
|
|
```
|
|
### Execute shell inside my_example
|
|
#### If container is stopped
|
|
```
|
|
docker compose run my_example bash
|
|
```
|
|
#### If container is already running
|
|
```
|
|
docker compose exec my_example bash
|
|
```
|
|
### Execute example_program inside my_example
|
|
```
|
|
docker compose run my_example example_program
|
|
```
|
|
|
|
## Next steps
|
|
### Fork this repository and make it your own
|
|
### What you will want to change in your repository:
|
|
#### my.repos and my_extended.repos:
|
|
These are yaml files containing the repositories you may want to include into your final ros2 workspace.
|
|
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"
|
|
|
|
## Additional Resources
|
|
For further references please visit my WIP repositories for mobile robotic platforms:
|
|
- https://github.com/bjoernellens1/ros2_rmp
|
|
- https://github.com/bjoernellens1/cps_bot_mini_ws
|