Ros2 Galactic Docker Setup

Steps to work with ROS2 Galactic docker

• There are two ways this ROS2 docker can be used: One way is to directly download pre-built docker image, load the image and start the container. Second way is to build the docker using its Docker file step by step. In second way, developer has more flexibility to change the ROS2 packages being build.

• Download the docker folder GithubLink:

1. Download and use pre-built image. Note that this is ready to use docker.

• Download the given prebuilt docker .tar (zip) file from link: ros2-galactic-focal-release.tar

	docker load --input ~/ros2-galactic-focal-release.tar
	unzip ~/Robotics_AMR-devel.zip
	~./Robotics_AMR-devel/docker/galactic/run.sh 
        //execute 'docker ps' command and you will be able to see the ros2-humble-jammy docker
	docker exec -it ros2-galactic-focal bash

• You will be inside docker at /home/analog/ directory (it has username: analog and password: analog). All pre-built ROS2 workspaces can be found here by running ls. There will be one folder created in local directory named “adi-dev”. Any additional ros2 package can be installed inside ~/adi-dev.

Build the docker from Dockerfile

        unzip ~/Robotics_AMR-devel.zip
        cd ~/Robotics_AMR-devel/docker/galactic	
        ./build.sh
        ./run.sh

• After running above command, an image will be built named ros2-galactic-focal. It can be checked by using “docker images” commands in terminal. To start docker container and go inside docker, run.

       docker exec -it ros2-galactic-focal bash

• You will be inside docker at /home/analog/ directory. All ROS2 packages and workspaces that were built can be found here by running ls. There will be one folder created in local directory named “adi-dev”. Any additional ros2 package can be installed inside ~/adi-dev.

Note: We will encourage user to use pre-built docker to test their application quickly. Build from scratch may require additional steps as per the github code links