1at7/ros-ros2 repository overview

⁠Docker with ROS1 - ROS2

Environment running ROS1(noetic-full) and ROS2(foxy-full) running without need of installation on actual system.

NOTE : This image is under construction. This is a trial image for ros-ros2 running parallel on Linux(Ubuntu).

⁠Prerequisites

⁠Tested in

⁠What is inside it?

• ROS1 (noetic-full)
• ROS2 (foxy-full)
• nano (text editor)
• QtCreator (IDE)
• Gazebo
• tmux (virtual terminal) (tmux-cheatsheet⁠)
• modified bashrc file with ros1 and ros2 workspace management tool⁠
• catkin and colcon to build ROS1 & ROS2 packages

⁠Benefits

• Preinstalled ROS1 and ROS2
• Shared folder from host
• Quick jumping between ROS1 and ROS2
• Hassle free playing. Messed with the system!! No worries build it again in seconds.
• Using shared cpu and graphics from host pc
• No compensation on graphic usage as Virtual machine

⁠Future additions

• integration with QtCreator
• Debug tool for ROS1 and ROS2
• Suggestions and feedback are accepted write me⁠

⁠How to build and run container

⁠On Linux system

1. Pull the docker Image. (docker pull 1at7/ros-ros2:demo)
2. create run.sh file on your system and write following command.

docker run --privileged -it \
 --volume="/tmp/.X11-unix:/tmp/.X11-unix" \
 --volume="/home/$USER:/home/host" \  # remove this if you do not want to share the host files
 --device=/dev/dri:/dev/dri \
 --env="DISPLAY=$DISPLAY" \
 --env="QT_X11_NO_MITSHM=1" \
 --env="TERM=xterm-256color" \  # remove in case if you do not want color scheme in docker prompt
 -h ros-ros2-demo.local \  # change <name>.local to give preferred host name to the container
 --name "ros-ros2-demo" \  # name of created container will be given here
1at7/ros-ros2:demo

1. chmod +x run.sh
2. ./run.sh

⁠How to run/stop container

1. xauth list (in host terminal) copy the terminal output
2. docker start <container-name> (in host terminal)
3. docker exec -it <container-name> bash (in host terminal) Now you are inside the container
4. xauth add <copied-text> (in container terminal)
5. docker stop <container-name> #after exiting the container (in host terminal)

⁠On Windows system

yet to be tested