/DockedROS

a dockerized version of ros with gazebo

Primary LanguageDockerfile

Welcome to DockedRobotics

Below are the different versions that can be used as base templates

Ros Foxy Version Steps [Cuda support] :

Pre-installation Steps:

  1. Nvidia Container Toolkit Setup:

    • Set up the package repository and GPG key. 
      set distribution $(. /etc/os-release;echo $ID$VERSION_ID) \
       && curl -fsSL https://nvidia.github.io/libnvidia-container/gpgkey | sudo gpg --dearmor -o /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg \
       && curl -s -L https://nvidia.github.io/libnvidia-container/$distribution/libnvidia-container.list | \
             sed 's#deb https://#deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://#g' | \
             sudo tee /etc/apt/sources.list.d/nvidia-container-toolkit.list
    • Install the toolkit. 
      sudo apt-get update && sudo apt-get install -y nvidia-container-toolkit
    • Configure the runtime. 
      sudo nvidia-ctk runtime configure --runtime=docker

  2. Install Xhost for GUI:

    xhost +local:docker

Containerizing:

  1. Build the Dockerfile:

    docker build -t my_ros_container .

  2. Run the Docker Container:

    docker run --gpus all -it --net=host \
    --env NVIDIA_DRIVER_CAPABILITIES=all \
    --env="DISPLAY" \
    --env="QT_X11_NO_MITSHM=1" \
    --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
    --volume="/path/to/host/directory:/home/gazebo_ros" \
    my_ros_container

Ros Humble Version Steps [No CUDA Support]:

Pre-installation:

  1. Install Xhost for GUI: 
    xhost +local:docker

Containerizing:

  1. Build the Dockerfile:

    docker build -t my_ros_container .

  2. Run the docker container :

    docker run -it --rm --net=host --privileged \
    --env="DISPLAY" \
    --env="QT_X11_NO_MITSHM=1" \
    --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
    -v "/home/neo/Documents/FREDBOTS2.0/Bot_Volume_2/ros2_ws/src:/ros2_ws/src" \
    -p 2222:22 \
    ros2-humble-gazebo

Inside the Container:

  • The container contains an Ubuntu image with ROS2 and Gazebo installed.
  • Running scripts and performing required tasks should be done in the /persistent_data folder, as it is directly attached to the user's directory.
  • Alternatively, you can create a Docker volume to attach it to.