navigation2

Navigation2 Docker Image

The Navigation2 Docker image uses the Space ROS docker image (osrf/space-ros:latest) as its base image. The Navigation2 Dockerfile installs all of the prerequisite system dependencies to build Navigation2

Building the Navigation2 Image

To build the docker image, run:

./build.sh

The build process will take about 30 minutes, depending on the host computer.

Running the Navigation2 Docker Image in a Container

After building the image, you can see the newly-built image by running:

docker image list

The output will look something like this:

REPOSITORY              TAG                        IMAGE ID       CREATED        SIZE
osrf/space_nav2         latest                     6edb2edc9643   10 hours ago   15.5GB
openrobotics/spaceros   latest                     629b13cf7b74   12 hours ago   7.8GB
nvidia/cudagl           11.4.1-devel-ubuntu20.04   336416dfcbba   1 week ago     5.35GB

The new image is named osrf/space_nav2:latest.

There is a run.sh script provided for convenience that will run the spaceros image in a container.

./run.sh

Upon startup, the container automatically runs the entrypoint.sh script, which sources the MoveIt2 and Space ROS environment files. You'll now be running inside the container and should see a prompt similar to this:

root@ip-your-ip-address:/home/spaceros-user/nav2_ws#

Running Navigation2 Demo

To run the latest demo, see the README in the nav2_demos folder