tobyloki / ros2-docker-instructions

ros2-docker-instructions

• List of available docker images found at https://github.com/osrf/docker_images in the Architectures section.

• The docker image I used was located at https://hub.docker.com/r/arm64v8/ros/tags?page=1&name=humble

Instructions

1. Pull Docker image

docker pull arm64v8/ros:humble-ros-base

2. Run Docker container while allowing GUIS to show (e.g. rqt_graph)

• First install XQuartz (https://www.xquartz.org/)

DOCKER_COMMON_ARGS="--env=DISPLAY --env=QT_X11_NO_MITSHM=1 -v /tmp/.X11-unix:/tmp/.X11-unix:rw"

sudo docker run -it -d --net=host --privileged $DOCKER_COMMON_ARGS --name ros --restart unless-stopped arm64v8/ros:humble-ros-base

3. Add source script to ~/.bashrc

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

4. Source (to get access to ros2 command)

source ~/.bashrc

5. Make ros workspace

mkdir -p ros2_ws/src
cd ~/ros2_ws

6. Make pub-sub package

ros2 pkg create --build-type ament_python py_pubsub

7. Add pub-sub files

cd ~/ros2_ws/src/py_pubsub/py_pubsub

apt-get update -y

apt-get install wget

wget https://raw.githubusercontent.com/ros2/examples/humble/rclpy/topics/minimal_publisher/examples_rclpy_minimal_publisher/publisher_member_function.py

wget https://raw.githubusercontent.com/ros2/examples/humble/rclpy/topics/minimal_subscriber/examples_rclpy_minimal_subscriber/subscriber_member_function.py

8. Add dependencies in package.xml under <license>

<exec_depend>rclpy</exec_depend>
<exec_depend>std_msgs</exec_depend>
<exec_depend>ros2launch</exec_depend>

Add entry points to setup.py

entry_points={
    'console_scripts': [
        'talker = py_pubsub.publisher_member_function:main',
        'listener = py_pubsub.subscriber_member_function:main',
    ],
},

9. Add launch file

mkdir ~/ros2_ws/src/py_pubsub/launch

cd  ~/ros2_ws/src/py_pubsub/launch

touch pubsub.launch.py

10. Add code to pubsub.launch.py

from launch import LaunchDescription
from launch_ros.actions import Node

def generate_launch_description():
    return LaunchDescription([
        Node(
            package='py_pubsub',
            executable='talker',
            name='talker',
            output='screen'
        ),
        Node(
            package='py_pubsub',
            executable='listener',
            name='listener',
            output='screen'
        )
    ])

11. Install dependencies

cd ~/ros2_ws

rosdep install -i --from-path src --rosdistro humble -y

12. Build

colcon build

13. Add ros workspace source script to ~/.bashrc

echo "source ~/ros2_ws/install/setup.bash" >> ~/.bashrc

14. Source

source ~/.bashrc

15. Run

• Run via ros2 run commands

ros2 run py_pubsub talker

ros2 run py_pubsub listener

• Run via ros2 launch command

ros2 launch py_pubsub pubsub.launch.py

Notes

• when editing python files, don't need to re-run source, but still need to re-build