Docker安装ros

Docker安装ros

1.拉取镜像

>> sudo docker pull osrf/ros:noetic-desktop-full

2.启动容器

>> sudo docker run -it --name ros --ipc=host --shm-size 32g \
   -e NVIDIA_VISIBLE_DEVICES=all -e NVIDIA_DRIVER_CAPABILITIES=all \
   --env="DISPLAY" --env="QT_X11_NO_MITSHM=1"    \
   --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw"   \
   --privileged=true --cap-add=SYS_PTRACE \
   -v /home/mirror/workspace:/home/workspace \
   -w /home/workspace osrf/ros:noetic-desktop-full

3.配置环境

• (1) 连接display

>> sudo docker ps -a
>> sudo xhost +local:`docker inspect --format='{{ .Config.Hostname }}' ros`

• (2) 编辑环境变量

>> sudo docker run -it ros bash
# 1.更新环境变量
## 1.1 直接编辑
>> vim ~/.bashrc
source /opt/ros/noetic/setup.bash
## 1.2 使用bash重定向
>> echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
# 2.刷新环境变量生效
>> source ~/.bashrc

4.运行示例

>> roscore
>> rosrun turtlesim turtlesim_node
>> rosrun turtlesim turtle_teleop_key

5.创建catkin工作空间

>> mkdir -p ~/catkin_ws/src
>> cd ~/catkin_ws/
>> catkin_make

参考资料

• 1.osrf/ros
• 2.create_a_workspace