Docker usage

The tutorial builds ROS1:Melodic environment based on ubuntu:18.04!

1. Start the image

Start the ubuntu:18.04 image in interactive mode:

docker run -it ubuntu:18.04 /bin/bash

2. ROS environment construction

Administrator privileges are not required in Docker. If the host installs the ROS environment, sudo needs to be added to the command.

2.1. Update system software

To install the ROS1 environment, you generally need to ensure that the system software package is up to date:

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apt update && apt upgrade

2.2. Determine the language environment

Make sure the system language environment supports UTF-8!

2.2.1. Verify the system environment

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locale

2.2.2. Set the UTF-8 environment

If the system language does not support the UTF-8 environment, enter the following commands line by line in the terminal:

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apt install locales
locale-gen en_US en_US.UTF-8
update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
echo "export LANG=en_US.UTF-8" >> ~/.bashrc
source ~/.bashrc

2.3、Set software source

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apt install lsb-core

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sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'

2.4、Set key

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apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

2.5. Install ROS1 desktop version

ROS desktop version includes ROS1 core functions, common tools and libraries:

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apt update && apt upgrade

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apt install ros-melodic-desktop-full -y

You need to select the region and city by yourself: not demonstrated here

2.6, install ROS1 dependencies

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apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential -y

2.7, rosdep initialization

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rosdep init
rosdep update

If rosdep init displays the error message ERROR: cannot download default sources list from: https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list Website may be down., visit https://www.ipaddress.com/ and search for the raw.githubusercontent.com domain name, and fill the IP address obtained in the /etc/hosts file:

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apt install nano -y

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nano /etc/hosts

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185.199.110.133 raw.githubusercontent.com

Re-run:

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rosdep init
rosdep update

2.8, Setting environment variables

2.8.1, Temporary settings

Refresh the current terminal environment variables:

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source /opt/ros/melodic/setup.bash

2.8.2, Automatic settings (recommended)

Open the terminal to automatically refresh the environment variables: Open the terminal to automatically refresh the .bashrc file content

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echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc

3. Submit the image

Only by submitting a new image locally can the previously built ROS environment be saved. Otherwise, the next time you start the docker image, there will still be no ROS environment in the container.

Note: Modify according to the actual CONTAINER ID

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docker commit a31a521e9fb4 ros_melodic:1.0

After saving, you can close the ubuntu:18.04 container:

4. Verify the image/ROS

4.1. Start the image

Start the ros_melodic:1.0 image in interactive mode: Since the turtle case needs to be displayed in the graphical interface, Docker needs to be allowed to access the X Display

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xhost +

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docker run -it -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix ros_melodic:1.0 /bin/bash

4.2. Verify the ROS environment

Use the turtle case to test the ROS environment: open three terminals to enter the same container, and then run the following commands respectively

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roscore

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rosrun turtlesim turtlesim_node

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rosrun turtlesim turtle_teleop_key

Note: The mouse must stay in the third command window to control the turtle