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https://github.com/louislelay/ros_docker
A Docker setup for ROS (Robot Operating System) Kinetic, Melodic and Noetic with a full desktop environment, providing a ready-to-use development and simulation environment for robotic applications.
https://github.com/louislelay/ros_docker
docker docker-container docker-image dockerfile ros ros-docker ros-kinetic ros-melodic ros-noetic
Last synced: 8 days ago
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A Docker setup for ROS (Robot Operating System) Kinetic, Melodic and Noetic with a full desktop environment, providing a ready-to-use development and simulation environment for robotic applications.
- Host: GitHub
- URL: https://github.com/louislelay/ros_docker
- Owner: louislelay
- License: mit
- Created: 2024-08-02T09:50:13.000Z (3 months ago)
- Default Branch: ros_melodic
- Last Pushed: 2024-08-14T02:19:36.000Z (3 months ago)
- Last Synced: 2024-10-10T16:21:20.089Z (28 days ago)
- Topics: docker, docker-container, docker-image, dockerfile, ros, ros-docker, ros-kinetic, ros-melodic, ros-noetic
- Language: Dockerfile
- Homepage:
- Size: 30.3 KB
- Stars: 1
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
# ROS Docker Setup
[![noetic][noetic-badge]][noetic]
[![melodic][melodic-badge]][melodic]
[![kinetic][kinetic-badge]][kinetic]
This setup provides a Docker container for ROS (Robot Operating System) with a full desktop environment, ideal for robotic development and simulation.
**Prerequisites**: Ensure Docker is installed on your system before proceeding. Instructions for installing Docker are provided at the end of this document.
---
## Table of Contents
- [Installation](#installation)
- [Getting Started](#getting-started)
- [Workspace Setup](#workspace-setup)
- [Installing Additional Features](#installing-additional-features)
- [Docker Installation Instructions](#docker-installation-instructions)
- [Uninstalling Docker and Cleaning Up](#uninstalling-docker-and-cleaning-up)
---
## Installation
To clone the repository for your specific ROS distribution, use the appropriate command below:
- **ROS Kinetic:**
```bash
git clone -b ros_kinetic https://github.com/louislelay/ros_docker.git
```
- **ROS Melodic:**
```bash
git clone -b ros_melodic https://github.com/louislelay/ros_docker.git
```
- **ROS Noetic:**
```bash
git clone -b ros_noetic https://github.com/louislelay/ros_docker.git
```
---
## Getting Started
1. **Install the Docker Image**:
Run the following command to install the Docker image:
```bash
./install_image.bash
```
Depending on the power of your computer, this process may take some time. However, once it's done, any future changes you make to this file will be much faster.
2. **Start the Docker Container**:
Launch the Docker container using this command:
```bash
./start_docker.bash
```
3. **Exit the Docker Container**:
To exit the container, type `exit`.
---
## Workspace Setup
The `home` directory is shared between your computer and the Docker container, ensuring that files persist after you exit the container. To set up your ROS workspace:
1. Create a `catkin_ws` directory inside the `home` folder.
2. Inside `catkin_ws`, create a `src` directory.
3. You can now develop ROS packages within the `src` folder.
---
## Installing Additional Features
Changes made within the Docker container are temporary. To make changes permanent:
1. Add the required installation commands to the `Dockerfile`.
2. Rebuild the Docker image by running:
```bash
./install_image.bash
```
---
## Docker Installation Instructions
1. **Remove Old Docker Packages**:
```bash
sudo apt-get remove -y docker.io docker-doc docker-compose docker-compose-v2 podman-docker containerd runc
```
2. **Update Package List**:
```bash
sudo apt-get update
```
3. **Install Essential Packages**:
```bash
sudo apt-get install -y ca-certificates curl gnupg
```
4. **Add Docker’s Official GPG Key**:
```bash
sudo install -m 0755 -d /etc/apt/keyrings
curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo gpg --dearmor -o /etc/apt/keyrings/docker.gpg
sudo chmod a+r /etc/apt/keyrings/docker.gpg
```
5. **Set Up Docker Repository**:
```bash
echo "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/docker.gpg] https://download.docker.com/linux/ubuntu $(. /etc/os-release && echo $VERSION_CODENAME) stable" | sudo tee /etc/apt/sources.list.d/docker.list > /dev/null
```
6. **Update Package List Again**:
```bash
sudo apt-get update
```
7. **Install Docker**:
```bash
sudo apt-get install -y docker-ce docker-ce-cli containerd.io docker-buildx-plugin docker-compose-plugin
```
8. **Run Docker Without Sudo**:
```bash
sudo groupadd docker
sudo usermod -aG docker $USER
newgrp docker
```
9. **Verify Docker Installation**:
```bash
docker run hello-world
```
---
## Uninstalling Docker and Cleaning Up
1. **Uninstall Docker Packages**:
```bash
sudo apt-get purge -y docker-ce docker-ce-cli containerd.io docker-buildx-plugin docker-compose-plugin docker-ce-rootless-extras
```
2. **Remove Docker Data**:
```bash
sudo rm -rf /var/lib/docker
sudo rm -rf /var/lib/containerd
```
[noetic-badge]: https://img.shields.io/badge/ROS-Noetic-blue.svg
[noetic]: https://wiki.ros.org/noetic
[melodic-badge]: https://img.shields.io/badge/ROS-Melodic-blue.svg
[melodic]: https://wiki.ros.org/melodic
[kinetic-badge]: https://img.shields.io/badge/ROS-Kinetic-blue.svg
[kinetic]: https://wiki.ros.org/kinetic