Docker for ROS

1.Install Docker

Install using the apt repository

• Get apt

# Add Docker's official GPG key:
sudo apt-get update
sudo apt-get install ca-certificates curl gnupg
sudo install -m 0755 -d /etc/apt/keyrings
curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo gpg --dearmor -o /etc/apt/keyrings/docker.gpg
sudo chmod a+r /etc/apt/keyrings/docker.gpg

# Add the repository to Apt sources:
echo \
  "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/docker.gpg] 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

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

• Test

sudo docker run hello-world

Don’t install docker-desktop!

2.ROS docker images

ros - Official Image | Docker Hub

docker pull osrf/ros_legacy:<tag_name>

• ROS1 - noetic

sudo docker pull osrf/ros:noetic-desktop-full

• ROS2 - humble

sudo docker pull osrf/ros:humble-desktop-full

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3.Make Container for Docker

3.1 host open

Setting to enable to use vscode. rviz … in docker

xhost +

run the code when restated the container

3.2 make data folder

• make a folder to connect container.

<data name>

3.3 make container and connect to data folder

sudo docker run -it -v <host path>:<docker paht> --device=/dev/dri --group-add video --volume=/tmp/.X11-unix:/tmp/.X11-unix  --env="DISPLAY=$DISPLAY" --env="QT_X11_NO_MITSHM=1" --name=<container name> osrf/ros:noetic-desktop-full  /bin/bash

• docker run : make a container
• -it: use terminal
• -v <host path>:<docker paht>: make a volume(data) to connect between host to container
• --device=/dev/dri: connect device of host to container
• --group-add video: Add the container user to the “video” group to gain access to the graphics device.
• --volume=/tmp/.X11-unix:/tmp/.X11-unix: Maps the X11 Unix socket directory /tmp/.X11-unix on the host to the container, allowing the container to communicate with the X11 server, typically used for the display of graphical applications.
• --env="DISPLAY=$DISPLAY" : set display path of container to X11 path
• --env="QT_X11_NO_MITSHM=1": set up the path of QT_X11_NO_MITSHM=1 in container
• --name=<container name>: set up the name of container
• osrf/ros:noetic-desktop-full: using dokcer image of ROS
• /bin/bash : run bash in container

For ROS2 - humble

sudo docker run -it -v /home/youkoutaku/noetic_data:/data --device=/dev/dri --group-add video --volume=/tmp/.X11-unix:/tmp/.X11-unix  --env="DISPLAY=$DISPLAY" --env="QT_X11_NO_MITSHM=1" --name=humble_ros osrf/ros:humble-desktop-full  /bin/bash

4.ROS in Docker

4.2 Get apt in container

sudo apt update
sudo apt upgrade

Tmux

apt install tmux & apt install git

Tmux Getting-Started

Git

apt install git

4.3 ROS test

ROS: Getting Started

roscore

rviz

gazebo

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Reference

1. Install Docker Engine on Ubuntu
2. ros - Official Image
3. Loam：Ubuntu20.04下的编译与运行_for frame camera init to-CSDN博客
4. Ubuntu20.04+Docker+ROS Noetic+LOAM环境配置 - 知乎 (zhihu.com)
5. Ubuntu 22.04 docker下运行ROS Melodic rviz - 知乎 (zhihu.com)