ROS2 Docker Template

This repository provides a template for setting up a ROS 2 (Robot Operating System) development environment using Docker. It includes a Dockerfile and a Docker Compose configuration to build and run ROS 2 containers with ease.

Project Structure

• .env: Contains environment variables for the Docker Compose file.
• docker-compose.yaml: Docker Compose configuration file to define and run multi-container Docker applications.
• Dockerfile: Dockerfile to build the ROS 2 base and development images.
• entrypoint.sh: Entrypoint script to source ROS 2 setup files.
• dependencies.repos: VCS repository file for importing third-party ROS 2 packages.

Getting Started

Prerequisites

• Docker
• Docker Compose

Setup

1. Clone the repository:

   git clone https://github.com/iamnambiar/ros2_docker_template.git
   cd ros2_docker_template

2. Build the Docker images:

   docker compose build

3. Run the Docker container:

   docker compose up -d [service_name]

4. Stop the container:

   docker compose down

Usage

• The base service provides a base ROS 2 environment.
• The dev service extends the base environment with additional development tools and a user setup.

Environment Variables

• ROS_DISTRO: Specifies the ROS 2 distribution (default: humble).
• UID, GID, USERNAME: User ID (default: 1000), Group ID (default: 1000), and Username (default: user) for the development container.

Third-Party Dependencies

To add third-party ROS 2 packages, edit dependencies.repos with the repository details:

repositories:
  my_package:
    type: git
    url: https://github.com/username/my_package.git
    version: main

These packages are cloned into /colcon_ws/src/thirdparty and built during the Docker image build.

Volumes

• /tmp/.X11-unix: Shared X11 socket for GUI applications.
• ./src:/colcon_ws/src: Mounts the local src directory to the container's workspace.