ros2_docker_template/README.md

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.

Only needed for multiplatform images

Following this guide you will also be able to do multiplatform builds with docker buildx. To build multiplatform images need binfmt dependencies for arm64 architecture as requirement (The resulting image works on PCs as well as Jetson Nano, Raspberry Pi, Apple Silicon Devices).

Install requirements

docker run --privileged --rm tonistiigi/binfmt --install all

Uninstall

docker run --privileged --rm myuser/binfmt

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"

To build the image for example_service (and push it to your container registry):

docker buildx bake example_service --load # to load into local container registry

docker buildx bake example_service --push # to push into specified remote container registry

To run example_service:

Run example_service in background

docker compose up -d example_service

Run example_service in foreground

docker compose up example_service

Execute shell inside example_service

If container is stopped

docker compose run example_service bash

If container is already running

docker compose exec example_service bash

Execute example_program inside example_service

docker compose run example_service example_program