Building a ros docker image

• cd into the build folder. Add the Dockerfiles here.

• Change the working directory if needed in the build.sh file, default will be ~/Documents/docker_storage/ros-<distro name>

Running Containers

• Run ./build.sh <ros distro name> <device> (foxy, humble, galactic) (device is either nvidia or jetson, will pull nvidia/cuda or l4t-pytorch image, Leaving it empty pulls from ros:distro).

• The build files can be found in the build folder and can be changed accordingly.

• To install run sudo bash install.sh

• For help ros2_containers --help

• After build is finished run ros2_containers -d <distro name> -g <device> will open a interactive shell with GUI support in linux. Passing nvidia or jetson will notifiy docker to use the specific image.

• Reruning the ros2_containers -d <distro name> -g <device> will attach a container.

• add alias launchDocker="zsh ~/Documents/automationFiles/docker/ros.sh" to your bashrc/zshrc to launch your container with launchDocker <distro name> <device>.

Jetsons

To run containers on jetons use jetson-containers package.

• Follow the setup guide to install and setup ssd as a storage for the containers.
• To run a container image use jetson-containers run --volume /home/user/Documents/docker_storage/ros-humble:/home container:tag
• You can change the run command in the run.sh in the package files.