ROS2 Docker Environment

Ready-to-use ROS2 Humble development environment with GUI support.

Getting Started

1. Start the environment

   cd docker_ws
   docker compose up -d

Stopping the Environment

Stop containers (keeps environment)

If you started with docker compose up (without -d), you can stop with Ctrl+C.

To stop containers but keep them for later:

docker compose stop

To restart stopped containers:

docker compose start

Stop and remove containers

To completely stop and remove containers (environment will be lost):

docker compose down

To also remove volumes:

docker compose down -v

2. Access the container

   docker exec -it ros2_docker zsh

3. Open GUI applications

   • Go to http://localhost:8080/vnc.html in your browser
   • Click "Connect"

What's Included

• ROS2 Humble (Ubuntu base)
• RViz2, development tools (git, cmake, vim)
• Oh My Zsh shell
• GUI access via noVNC
• Your files mounted at /workspace

Workspace Structure

• docker_ws/ - Docker files
• programming_ws/ - Your ROS2 projects go here

Quick Test

Inside the container:

# Test ROS2
ros2 run demo_nodes_cpp talker

# In another terminal
ros2 run demo_nodes_py listener