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Merge pull request #1124 from ROBOTIS-GIT/feature-docker-update
Support Dockerfile
2 parents 9d216c1 + e8d5765 commit ed3521a

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‎.gitignore‎

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*.txt.user
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*.gch
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/.project
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.DS_Store

‎Dockerfile‎

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‎docker/humble/Dockerfile‎

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# Use the base ROS2 humble image
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FROM ros:humble-ros-base
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# Set environment variables
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ENV DEBIAN_FRONTEND=noninteractive
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ENV COLCON_WS=/root/turtlebot3_ws
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# Install the required packages in a single layer and clean up afterwards
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RUN apt-get update && \
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apt-get install -y --no-install-recommends \
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ros-${ROS_DISTRO}-desktop \
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python3-argcomplete \
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python3-colcon-common-extensions \
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libboost-system-dev \
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build-essential \
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libudev-dev \
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udev \
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git \
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nano \
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ros-${ROS_DISTRO}-cartographer \
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ros-${ROS_DISTRO}-cartographer-ros \
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ros-${ROS_DISTRO}-navigation2 \
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ros-${ROS_DISTRO}-nav2-bringup \
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ros-${ROS_DISTRO}-turtlebot3-msgs \
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ros-${ROS_DISTRO}-dynamixel-sdk \
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ros-${ROS_DISTRO}-xacro \
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ros-${ROS_DISTRO}-hls-lfcd-lds-driver \
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ros-${ROS_DISTRO}-ld08-driver \
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ros-${ROS_DISTRO}-coin-d4-driver \
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&& rm -rf /var/lib/apt/lists/*
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WORKDIR ${COLCON_WS}
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RUN mkdir -p ${COLCON_WS}/src && \
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cd ${COLCON_WS}/src && \
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git clone -b humble https://github.com/ROBOTIS-GIT/turtlebot3.git
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RUN bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash && \
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cd ${COLCON_WS} && \
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colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release"
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RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> ~/.bashrc && \
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echo "source ${COLCON_WS}/install/setup.bash" >> ~/.bashrc && \
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echo "alias cb='colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release'" >> ~/.bashrc && \
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echo "export ROS_DOMAIN_ID=30 # TURTLEBOT3" >> ~/.bashrc && \
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echo "# export TURTLEBOT3_MODEL= # burger, waffle, waffle_pi" >> ~/.bashrc && \
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echo "# export LDS_MODEL= # LDS-01, LDS-02, LDS-03" >> ~/.bashrc
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CMD ["bash"]

‎docker/humble/container.sh‎

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#!/bin/bash
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# Get the directory where the script is located
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SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
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CONTAINER_NAME="turtlebot3"
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# Determine whether to use docker-compose or docker compose
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if docker compose version &> /dev/null; then
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COMPOSE_CMD="docker compose"
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else
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COMPOSE_CMD="docker-compose"
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fi
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# Function to display help
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show_help() {
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echo "Usage: $0 [command]"
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echo ""
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echo "Commands:"
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echo " help Show this help message"
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echo " start Start the container"
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echo " enter Enter the running container"
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echo " stop Stop the container"
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echo ""
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echo "Examples:"
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echo " $0 start Start container"
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echo " $0 enter Enter the running container"
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echo " $0 stop Stop the container"
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}
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# Function to start the container
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start_container() {
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# Set up X11 forwarding only if DISPLAY is set
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if [ -n "$DISPLAY" ]; then
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echo "Setting up X11 forwarding..."
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xhost +local:docker || true
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else
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echo "Warning: DISPLAY environment variable is not set. X11 forwarding will not be available."
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fi
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echo "Starting Turtlebot3 container..."
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# Copy udev rule for TurtleBot3
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sudo tee /etc/udev/rules.d/99-tb3.rules > /dev/null <<EOF
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ATTRS{idVendor}=="0483", ATTRS{idProduct}=="5740", ENV{ID_MM_DEVICE_IGNORE}="1", MODE:="0666"
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ATTRS{idVendor}=="0483", ATTRS{idProduct}=="df11", MODE:="0666"
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ATTRS{idVendor}=="fff1", ATTRS{idProduct}=="ff48", ENV{ID_MM_DEVICE_IGNORE}="1", MODE:="0666"
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ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", ENV{ID_MM_DEVICE_IGNORE}="1", MODE:="0666", SYMLINK+="tb3_lidar"
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EOF
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# Reload udev rules
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echo "Reloading udev rules..."
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sudo udevadm control --reload-rules
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sudo udevadm trigger
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# Pull the latest images
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$COMPOSE_CMD -f "${SCRIPT_DIR}/docker-compose.yml" pull
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# Run docker-compose
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$COMPOSE_CMD -f "${SCRIPT_DIR}/docker-compose.yml" up -d
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}
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# Function to enter the container
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enter_container() {
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# Set up X11 forwarding only if DISPLAY is set
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if [ -n "$DISPLAY" ]; then
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echo "Setting up X11 forwarding..."
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xhost +local:docker || true
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else
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echo "Warning: DISPLAY environment variable is not set. X11 forwarding will not be available."
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fi
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if ! docker ps | grep -q "$CONTAINER_NAME"; then
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echo "Error: Container is not running"
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exit 1
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fi
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docker exec -it "$CONTAINER_NAME" bash
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}
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# Function to stop the container
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stop_container() {
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if ! docker ps | grep -q "$CONTAINER_NAME"; then
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echo "Error: Container is not running"
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exit 1
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fi
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echo "Warning: This will stop and remove the container. All unsaved data in the container will be lost."
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read -p "Are you sure you want to continue? [y/N] " -n 1 -r
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echo
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if [[ $REPLY =~ ^[Yy]$ ]]; then
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$COMPOSE_CMD -f "${SCRIPT_DIR}/docker-compose.yml" down
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else
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echo "Operation cancelled."
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exit 0
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fi
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}
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# Main command handling
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case "$1" in
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"help")
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show_help
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;;
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"start")
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start_container
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;;
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"enter")
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enter_container
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;;
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"stop")
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stop_container
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;;
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*)
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echo "Error: Unknown command"
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show_help
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exit 1
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;;
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esac

‎docker/humble/docker-compose.yml‎

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services:
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turtlebot3:
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container_name: turtlebot3
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image: robotis/turtlebot3:humble-latest
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# build:
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# context: .
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# dockerfile: Dockerfile.pc
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tty: true
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restart: unless-stopped
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cap_add:
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- SYS_NICE
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ulimits:
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rtprio: 99
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rttime: -1
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memlock: 8428281856
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network_mode: host
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ipc: host
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pid: host
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environment:
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- DISPLAY=${DISPLAY}
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- QT_X11_NO_MITSHM=1
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volumes:
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- /dev:/dev
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- /dev/shm:/dev/shm
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- /tmp/.X11-unix:/tmp/.X11-unix:rw
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- /tmp/.docker.xauth:/tmp/.docker.xauth:rw
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- ./workspace:/workspace
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- ../../:/root/turtlebot3_ws/src/turtlebot3
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privileged: true
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command: bash

‎docker/jazzy/Dockerfile‎

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# Use the base ROS2 jazzy image
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FROM ros:jazzy-ros-base
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# Set environment variables
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ENV DEBIAN_FRONTEND=noninteractive
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ENV COLCON_WS=/root/turtlebot3_ws
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# Install the required packages in a single layer and clean up afterwards
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RUN apt-get update && \
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apt-get install -y --no-install-recommends \
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ros-${ROS_DISTRO}-desktop \
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python3-argcomplete \
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python3-colcon-common-extensions \
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libboost-system-dev \
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build-essential \
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libudev-dev \
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udev \
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git \
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nano \
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ros-${ROS_DISTRO}-cartographer \
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ros-${ROS_DISTRO}-cartographer-ros \
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ros-${ROS_DISTRO}-navigation2 \
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ros-${ROS_DISTRO}-nav2-bringup \
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ros-${ROS_DISTRO}-nav2-route \
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ros-${ROS_DISTRO}-turtlebot3-msgs \
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ros-${ROS_DISTRO}-dynamixel-sdk \
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ros-${ROS_DISTRO}-xacro \
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ros-${ROS_DISTRO}-hls-lfcd-lds-driver \
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ros-${ROS_DISTRO}-ld08-driver \
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ros-${ROS_DISTRO}-coin-d4-driver \
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&& rm -rf /var/lib/apt/lists/*
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WORKDIR ${COLCON_WS}
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RUN mkdir -p ${COLCON_WS}/src && \
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cd ${COLCON_WS}/src && \
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git clone -b jazzy https://github.com/ROBOTIS-GIT/turtlebot3.git
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RUN bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash && \
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cd ${COLCON_WS} && \
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colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release"
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RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> ~/.bashrc && \
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echo "source ${COLCON_WS}/install/setup.bash" >> ~/.bashrc && \
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echo "alias cb='colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release'" >> ~/.bashrc && \
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echo "export ROS_DOMAIN_ID=30 # TURTLEBOT3" >> ~/.bashrc && \
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echo "# export TURTLEBOT3_MODEL= # burger, waffle, waffle_pi" >> ~/.bashrc && \
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echo "# export LDS_MODEL= # LDS-01, LDS-02, LDS-03" >> ~/.bashrc
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CMD ["bash"]

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