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.

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.
Starting with the OSRF Desktop Docker Image, build your own Docker Image:
```
 docker compose build
```
Start the Docker container:
```
 docker compose up -d dev
```

Step into the running Docker container:

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

Setup .env and .docker.xauth files for Docker Compose and to enable GUI access:
```
 ./env_setup.sh humble
```
Starting with the OSRF Desktop Docker Image, build your own Docker Image:
```
 docker compose build
```
Start the Docker container:
```
 docker compose up -d dev
```

Step into the running Docker container:

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

To mount code from your local system into the container:

Start by setting up a ROS workspace directory structure on your host system. For example:
```
 mkdir -p ~/ros1/workspace_2/src
```
Clone your git repos into the ~/ros1/workspace_2/src/ directory
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
```
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.

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.