docker

Docker

Prerequisites

It is a requirement to have docker engine already installed in the host machine.

• See Docker Installation Guide

For NVIDIA GPU support, nvidia-container-toolkit should be installed. Skip this step if you don't have an NVIDIA graphics card

• Make sure you have the drivers installed:

  nvidia-smi

• See NVIDIA Container Toolkit Installation Guide

Building image and running container

The Docker setup supports both ROS 2 Humble and Jazzy distributions.

• Build the docker image (defaults to Humble):

./docker/build.sh

To build for Jazzy:

./docker/build.sh --ros_distro jazzy

You can also set a specific image name:

./docker/build.sh -i my_fancy_image_name

• Run a docker container:

./docker/run.sh

To run Jazzy:

./docker/run.sh --ros_distro jazzy

• IMPORTANT: If you are using nvidia drivers add the --use_nvidia flag:

./docker/run.sh --use_nvidia

You can also set specific image and container names:

./docker/run.sh --use_nvidia -i my_fancy_image_name -c my_fancy_container_name

• Inside the container, install dependencies via rosdep:

  For Humble:

  rosdep install -i -y --rosdistro humble --from-paths src

  For Jazzy:

  rosdep install -i -y --rosdistro jazzy --from-paths src

Note that the repository is mounted into a workspace. That is convenient if you are working in a single repository project. Note that for multi-repository workspace you should use another tool like vcs-tool to control via a .repos file the repositories in your workspace.

• To build:

  colcon build