ROS2 Humble Docker Template

Use this Docker template for a quick setup of the ROS2 Humble environment.

Repository Overview

• docker/:

  • Dockerfile: Defines the Docker image using ROS2 Humble, with user ros2_user and workspace ~/ros2_ws.
  • build_image.sh: Builds the Docker image as ros2_image.
  • run_container.sh: Initiates a container named ros2_container from the ros2_image.
  • shell_container.sh: Opens a shell in the ros2_container, ideal for multiple terminal sessions.

• ros2_ws/: The ROS2 workspace. Any files added here are automatically synchronized with the Docker container. Add ROS2 packages here for Docker container access.

Quickstart

1. Build the Image: Go to docker and run:

   ./build_image.sh
   

2. Start the Container: From docker, execute:

   ./run_container.sh
   

3. Additional Shell (Optional): For a new shell inside the running container, use:

   ./shell_container.sh
   

Testing ROS2

1. Launch a Docker container with:

   ./run_container.sh
   

2. Inside the container, initiate the ROS2 publisher:

   ros2 run demo_nodes_cpp talker
   

3. In a new terminal, access the container:

   ./shell_container.sh
   ros2 run demo_nodes_cpp listener
   

Docker Permissions

Ensure your user has appropriate permissions by adding it to the Docker group:

sudo usermod -aG docker $USER

After executing the above command, you might need to log out and log back in for the group changes to take effect.