ROS2 Docker 开发环境配置

安装 docker

sudo apt install docker.io

拉取镜像

sudo docker pull ros:humble

构建开发环境镜像

mkdir dockerbuild # 进入一个空目录加速构建镜像
docker build -f Dockerfile.Dev -t ros:humble-dev . # 将下面内容拷贝到Dockerfile.Dev文件内再执行当前命名

FROM ros:humble

# 更新源
RUN DEBIAN_FRONTEND=noninteractive apt-get update && apt-get upgrade -y 

# 安装 ROS 相关工具
RUN DEBIAN_FRONTEND=noninteractive apt-get install ros-$ROS_DISTRO-rviz2 -y
RUN DEBIAN_FRONTEND=noninteractive apt-get install ros-$ROS_DISTRO-mapviz -y
RUN DEBIAN_FRONTEND=noninteractive apt-get install ros-$ROS_DISTRO-swri-transform-util -y
RUN DEBIAN_FRONTEND=noninteractive apt-get install ros-$ROS_DISTRO-image-transport -y
RUN DEBIAN_FRONTEND=noninteractive apt-get install ros-$ROS_DISTRO-rqt -y
RUN DEBIAN_FRONTEND=noninteractive apt-get install ros-$ROS_DISTRO-rqt-graph -y
RUN DEBIAN_FRONTEND=noninteractive apt-get install ros-$ROS_DISTRO-rqt-common-plugins -y

# 安装其他开发相关工具
RUN DEBIAN_FRONTEND=noninteractive apt-get install libgoogle-glog-dev -y
RUN DEBIAN_FRONTEND=noninteractive apt-get install libeigen3-dev -y
RUN DEBIAN_FRONTEND=noninteractive apt-get install python3-pip -y
RUN DEBIAN_FRONTEND=noninteractive apt-get install zsh -y
RUN DEBIAN_FRONTEND=noninteractive apt-get install filezilla -y
RUN DEBIAN_FRONTEND=noninteractive apt-get install expect -y
RUN DEBIAN_FRONTEND=noninteractive apt-get install tmux -y
RUN DEBIAN_FRONTEND=noninteractive apt-get install gdb -y
RUN DEBIAN_FRONTEND=noninteractive apt-get install ffmpeg -y
RUN DEBIAN_FRONTEND=noninteractive apt-get install libsdl2-dev -y
RUN DEBIAN_FRONTEND=noninteractive apt-get install yasm -y
RUN DEBIAN_FRONTEND=noninteractive apt-get install nasm -y
RUN DEBIAN_FRONTEND=noninteractive apt-get install net-tools -y
RUN DEBIAN_FRONTEND=noninteractive apt-get install xterm -y
RUN DEBIAN_FRONTEND=noninteractive apt-get install docker.io -y
RUN DEBIAN_FRONTEND=noninteractive apt-get install vim -y
RUN DEBIAN_FRONTEND=noninteractive apt-get install fonts-droid-fallback -y
RUN DEBIAN_FRONTEND=noninteractive apt-get install ttf-wqy-zenhei -y
RUN DEBIAN_FRONTEND=noninteractive apt-get install ttf-wqy-microhei -y
RUN DEBIAN_FRONTEND=noninteractive apt-get install xfonts-wqy -y
RUN DEBIAN_FRONTEND=noninteractive apt-get install ccache -y
RUN DEBIAN_FRONTEND=noninteractive apt-get install curl -y
RUN DEBIAN_FRONTEND=noninteractive apt-get install gdb -y
RUN DEBIAN_FRONTEND=noninteractive apt-get install tree -y
RUN DEBIAN_FRONTEND=noninteractive apt-get install zip -y
RUN DEBIAN_FRONTEND=noninteractive apt-get install htop -y
RUN DEBIAN_FRONTEND=noninteractive apt-get install git -y
RUN DEBIAN_FRONTEND=noninteractive apt-get install psmisc -y
RUN DEBIAN_FRONTEND=noninteractive apt-get install nautilus -y
RUN apt autoremove -y

# 设置 python 环境
RUN pip config set global.index-url http://pypi.tuna.tsinghua.edu.cn/simple
RUN pip config set global.trusted-host pypi.tuna.tsinghua.edu.cn
RUN pip install rospkg netifaces geojson 
RUN ln -fs /usr/bin/python3 /usr/bin/python 

# 设置 ros 环境变量
RUN echo "source "/opt/ros/$ROS_DISTRO/setup.bash"" >> ~/.bashrc
RUN echo "source /root/install/local_setup.bash > /dev/null 2>&1" >> ~/.bashrc

# 设置 ssh 免密登录
RUN echo "StrictHostKeyChecking no" >> /etc/ssh/ssh_config
RUN echo "UserKnownHostsFile /dev/null " >> /etc/ssh/ssh_config

# 设置工作目录
WORKDIR /root/

进入ros2工作目录下的src目录

如果有nvidia显卡的，请移步nvidia-docker安装

执行下面命令，启动容器，将src目录挂载到开发容器中

export work_name=$(basename $(pwd))
NVIDIA_DOCKER_ARGS="--gpus=all -v /usr/lib/nvidia:/usr/lib/nvidia --device /dev/dri -e DISPLAY=$DISPLAY -e NVIDIA_VISIBLE_DEVICES=all -e NVIDIA_DRIVER_CAPABILITIES=all"
nvidia-smi > /dev/null 2>&1 || {
    NVIDIA_DOCKER_ARGS=""
}
docker run -tid --entrypoint=/bin/bash --net=host --privileged --device=/dev/video0 \
  -v /var/run/docker.sock:/var/run/docker.sock \
  -v /tmp/.X11-unix:/tmp/.X11-unix \
  -v /dev/dri/card0:/dev/dri/card0 \
  -e HOME_DIR=${work_name} \
  -e DISPLAY=$DISPLAY \
  ${NVIDIA_DOCKER_ARGS} \
  -v $(pwd):/root/src/${work_name} \
  -v /home/$USER/.ssh:/root/.ssh:ro \
  -v $(pwd)/.vscode-server:/root/.vscode-server \
  -w /root/src/${work_name} \
  --name ${work_name}_dev \
  ros:humble-dev
xhost + # 打开容器可视化界面的权限

通过VSCode进入容器内