astanea/adi_ros2 repository overview

⁠Quick Reference

• Maintained by: Analog Devices Inc⁠

• Where to get help: Github Issues⁠

• Docker Hub Links:

  • astanea/adi_ros2⁠,
  • astanea/adi_ros2-l4t⁠

• Supported architectures: amd64, arm64

⁠Supported Image Tags and Associated Dockerfile Links:

• humble-amd64:base, humble-amd64:full, humble-amd64:desktop⁠

  • Arch: amd64
  • ROS Distro: humble
  • Base Image: ros:humble-ros-base
  • Libiio: libiio-v0

• humble-arm64:base, humble-arm64:full, humble-arm64:desktop⁠

  • Arch: arm64
  • ROS Distro: humble
  • Base Image: ros:humble-ros-base
  • Libiio: libiio-v0

• humble-l4t_r36.2.0:base, humble-l4t_r36.2.0:full, humble-l4t_r36.2.0:desktop⁠

  • Arch: arm64
  • ROS Distro: humble
  • Base Image: nvcr.io/nvidia/l4t-base:r36.2.0
  • Jetson Linux version: r36.2.0
  • Libiio: libiio-v0

⁠How to use

⁠1. Pull the Docker Image

To use these Docker images, you can pull them from Docker Hub to ensure you have the latest version.

sudo docker pull astanea/adi_ros2:humble-amd64-desktop

⁠2. Run the Container

To run the container:

1. Allow external applications to connect to the host's display (for GUI applications):

xhost +

1. Run the Docker container with the necessary options:

sudo docker run \
        -it --rm \
        --net=host \
        --ipc=host \
        --privileged \
        --env="DISPLAY" \
    astanea/adi_ros2:humble-amd64-desktop

Arguments:

• -it: Run the container in interactive mode with a TTY.
• --rm: Automatically remove the container when it exits.
• --net=host: Use the host's network stack.
• --ipc=host: Share the host's IPC namespace, useful for inter-process communication.
• --privileged: Grant extended privileges to the container for hardware access.

⁠Image Tag Naming Convention

Our Docker images follow a structured naming convention to help you identify the right image for your needs:

⁠Repository Labels

The repository name indicates the target platform:

• adi_ros2: Standard Ubuntu-based images for x86_64 and ARM64 architectures
• adi_ros2-l4t: NVIDIA Jetson-specific images based on L4T (Linux for Tegra)

⁠Tag Format: {ros-distro}-{arch/platform}-{stage}

• {ros-distro}: ROS2 distribution (e.g., humble, iron, jazzy)
• {arch/platform}: Target architecture or platform:
  • amd64: x86_64 architecture
  • arm64: ARM64 architecture
  • l4t-r{version}: NVIDIA Jetson L4T version (e.g., l4t_r36.2.0)
• {stage}: Build stage (base, full, desktop)

⁠Examples:

• adi_ros2:humble-amd64-full - ROS2 Humble on x86_64 with full stage
• adi_ros2:iron-arm64-desktop - ROS2 Iron on ARM64 with desktop stage
• adi_ros2_l4t:humble-l4t-r36.2.0-base - ROS2 Humble on Jetson L4T R36.2.0 with base stage

⁠Image Stage Definitions

Our Docker images use multi-stage builds where each stage adds more content:

• base: Basic ROS2 installation + all ADI ROS2 packages along with their dependencies.

• full: Built on base + 3rd party tools such as Navigation2, SLAM Toolbox, CANopen, etc.

• desktop: Built on full + ROS desktop packages to provide development and visualization tools.