ros2_docker_template/README.md

my_ros2_docker_image

Following this you will be able to do multiplatform builds with docker buildx. For the build with docker buildx you will need binfmt dependencies for arm64 architecture, as we are doing a multiplatform build (Works on PCs as well as Jetson Nano, Raspberry Pi, Apple Silicon Devices).

What you will want to change:

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