RIF ROS Docker Development Environment

This repository makes it easy to start developing ROS applications within a Docker development environment.

Setup

The ROS distribution version is selected by specifying the distribution name to the env_setup.sh script.

ROS1 Noetic Example

1. Setup .env and .docker.xauth files for Docker Compose and to enable GUI access:

    ./env_setup.sh noetic
   

   This will create a .env file that Docker Compose will read in.

2. Starting with the OSRF Desktop Docker Image, build your own Docker Image:

    docker compose build
   

3. Start the Docker container:

    docker compose up -d dev
   

4. Step into the running Docker container:

    docker exec -it --user ros ros_noetic /bin/bash
   

5. Bring the Docker container down

    docker compose down
   

ROS2 Humble Example

1. Setup .env and .docker.xauth files for Docker Compose and to enable GUI access:

    ./env_setup.sh humble
   

2. Starting with the OSRF Desktop Docker Image, build your own Docker Image:

    docker compose build
   

3. Start the Docker container:

    docker compose up -d dev
   

4. Step into the running Docker container:

    docker exec -it --user ros ros_humble /bin/bash
   

5. Bring the Docker container down

    docker compose down
   

Mounting Code into Docker Container

To mount code from your local system into the container:

1. Start by setting up a ROS workspace directory structure on your host system. For example:

    mkdir -p ~/ros1/workspace_2/src
   

2. Clone your git repos into the ~/ros1/workspace_2/src/ directory

3. Update the docker-compose.yml file to mount this src folder by adding an item to the volumes list:

    - ${HOME}/ros1/workspace_2/src:/home/ros/workspace/src
   

4. After running docker compose up -d and stepping into the container with docker exec you should be able to run catkin_make to build the workspace.

Notes

1. You can use the dev-nvidia service if you have an NVIDIA GPU. To use your NVIDIA runtime, specify the dev-nvidia service when starting the container:

    docker compose up -d dev-nvidia
   

   Test that that NVIDIA runtime is working by running the nvidia-smi command.