ros2入门（一） -- docker开发环境搭建

官方资料入口

https://www.ros.org/blog/getting-started/#

环境构建

1 docker pull ubuntu:24.04

2 Dockerfile

FROM ubuntu:24.04
CMD ["sleep", "infinity"]

3 docker build -t ubuntu2404-sleep

4 docker run -d --name ros2 ubuntu2404-sleep

ros安装

https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debs.html

按步骤执行，很简单，最后能跑通测试程序，效果如下：

安装docker GPU支持

https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html

curl -fsSL https://nvidia.github.io/libnvidia-container/gpgkey | sudo gpg --dearmor -o /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg \
  && curl -s -L https://nvidia.github.io/libnvidia-container/stable/deb/nvidia-container-toolkit.list | \
    sed 's#deb https://#deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://#g' | \
    sudo tee /etc/apt/sources.list.d/nvidia-container-toolkit.list

apt install nvidia-container-toolkit
sudo nvidia-ctk runtime configure --runtime=docker
sudo systemctl restart docker

调整docker设置

先把安装好的ros docker做一个新镜像

docker commit ros2 ros2:1

再通过如下命令，使用新镜像制作新docker

docker create \
        --name ros2 \
        --privileged \
        --gpus all \
        -e DISPLAY=$DISPLAY \
        -e QT_X11_NO_MITSHM=1 \
        -e QT_DEBUG_PLUGINS=0 \
        -e QT_QPA_PLATFORM=xcb \
        -e XDG_RUNTIME_DIR=/tmp \
        -v /tmp/.X11-unix:/tmp/.X11-unix:rw \
        -v $HOME/.Xauthority:/root/.Xauthority:ro \
        -v $HOME/Source/ros2:/root/ros2:rw \
        ros2:1 \
        sleep infinity