Latest revision as of 03:44, 9 December 2024

Develop ROS Container

Develop ROS(foxy or humble) container image that assists developers in building its own ROS containerized applications.

How To

Start docker container

Step1: Launch the docker container of dev-ros2-<ROS_DISTRO>

$ cd /usr/local/Advantech/ros/container/docker
$ ./launch.sh dev-ros2-<ROS_DISTRO>

Step2: Accessing the container for development and debugging

$ docker exec -it dev-ros2-<ROS_DISTRO> bash

Examples

Examples demonstration on how to subscribe to and control services of other ROS2 nodes.

• C++ sample
• rclnodejs sample
• rclpy sample
• SUSI Node
• Modbus-Master Node
• OPCUAClient Node
   

Stop docker container

$ cd /usr/local/Advantech/ros/container/docker
$ ./stop.sh dev-ros2-<ROS_DISTRO>

Build Your Docker Container

To build a Docker container for your ROS2 application and integrate Advantech's add-ons services, you can following the steps.

Step1: Define a Dockerfile

Create a file called "Dockerfile" that specifies the instructions for building the container based on dev-ros2-<ROS_DISTRO>. This file includes details such as the base image, dependencies, environment variables, and commands to run inside the container.

FROM advigw/dev-ros2-<ROS_DISTRO>:1.0.0

# 1. Copy prerequisites of your application into the container
# WORKDIR /root
# COPY prerequisite/<your_application> /root/prerequisite

# 2. Install dependencies or libraries
# RUN apt-get update
# RUN apt-get install <some_dependency>

# 3. Execute your application automatically upon container startup.
# CMD [<application_command>]

Step2: Build the Docker image

Use the Docker command-line to build the Docker image based on the Dockerfile. This process involves pulling the necessary base image, executing the instructions in the Dockerfile, and creating a layered image with all the specified components.

$ docker build -t ros-example -f Dockerfile .

Step3: Define the Docker Compose services

Create a file called "docker-compose.yml", in the Docker Compose file, define the services, their image references, and any necessary configurations such as environment variables, port mappings, volume bindings, etc. Use the syntax provided by Docker Compose to define each service.

version: '2.1'

services:
  ros-example:
    image: ros-example
    container_name: ros-example
    restart: always
    networks:
     - adv-ros-network
    logging:
      options:
       max-size: 10M
    environment:
     - ROS_DOMAIN_ID=${ROS_DOMAIN_ID}

networks:
  adv-ros-network:
    name: adv-ros-network

Step4: Start the containers using Docker Compose

Execute the docker-compose up command in the directory where the Docker Compose file is located. This command will start the containers as defined in the Compose file.
Note: When using the docker-compose command, please avoid using 'sudo' if you need to use the ROS_DOMAIN_ID environment variable. Otherwise, the variable may not be found during execution.

$ docker-compose -f docker-compose.yml up -d

Step5: Test and validate

Open a new interactive bash shell within the container.

$ docker exec -it ros-example bash

Then test ROS2 Example and your applications in container.