ROS2 Humble Docker Image

This repo contains the Docker files to set up a an environment with ROS2 Humble in Ubuntu Jammy thorugh a Docker container for ROS2 projects. There are helpful packages included for ROS2 software development and testing. This environment currently only works on devices with Nvidia GPU's.

This template based on this Docker Workshop.

Installation and Setup

Clone the repo in your desired workspace:

cd ~/ros2_ws # example workspace
git clone git@github.com:luisluna01/docker_ros2.git
cd docker_ros2/

Optional: You can grant the user root acess to the X server (the graphical display system) for local connections to display GUI windows (e.g.,running rviz)

xhost +local:root

Build and Run

Build the Docker image:

docker compose build

Start a container:

docker compose up -d

Open a bash terminal in the container:

docker exec -ti ros2_c bash

Test

This section explains how to test the ROS2 Humble environment is set up correcly.

Check which distribution of ROS2 is currently installed:

printenv | grep ROS_DISTRO # Correct Output: ROS_DISTRO=humble

Test ROS2 Network

Open two bash terminals. In shell #1 run:

ros2 run demo_nodes_cpp talker

In shell #2 run:

ros2 run demo_nodes_cpp listener

Congratulations! You now have a complete ROS2 Environment to develop projects with.

Exit and Remove Container

To stop and remove the Docker container run:

Note: Ensure you are not in a container shell. To exit one press CTL+D or type exit.

docker compose down

Optional: If you want to remove all data related to this Docker project run:

docker compose down --rmi all --volumes --remove-orphans