docker_ros2_images

ROS2 docker images

Structure

graph TD;
    drone:lidar:::style1-->drone:jetson:::style1;
    drone:mcap:::style1-->drone:jetson;
    drone:gps:::style1-->drone:jetson:::style1;
    drone:jetson-->ubuntu:jammy:::style2;
    classDef style1 fill:#34aec5,stroke:#152742,stroke-width:4px,color:#152742
    classDef style2 fill:#152742,stroke:#34aec5,stroke-width:4px,color:#34aec5

Loading

Build

git clone https://github.com/jkk-research/docker_ros2_images

cd docker_ros2_images/src/drone

Optionally use --no-cache --network=host if you want to rebuild the entire image.

docker build -f jetson.Dockerfile -t drone:jetson .

docker build -f gps.Dockerfile -t drone:gps .

docker build -f mcap.Dockerfile -t drone:mcap .

docker build -f lidar.Dockerfile -t drone:lidar .

docker build -f robosense_lidar.Dockerfile -t drone:robosense_lidar .

docker build -f livox_lidar.Dockerfile -t drone:livox_lidar .

Run GPS Image

docker run -it --rm --privileged=true --network=host --ipc=host --pid=host --name gps1 drone:gps

ros2 launch drone_bringup gps1.launch.py

Run MCAP Image

docker run -it --rm -v /home/nvidia/bag/:/bag --privileged=true --network=host --ipc=host --pid=host --name mcap1 drone:mcap 

cd /home/ros2_ws/src/jkk_utils/drone_bringup/etc && ./record_mcap1.sh drone1_

Run Ouster LIDAR Image

docker run -it --rm --privileged=true --network=host --ipc=host --pid=host --name lidar1 drone:lidar

ros2 launch drone_bringup lidar1.launch.py

Run Robosense LIDAR Image

docker run -it --rm --privileged=true --network=host --ipc=host --pid=host --name lidar1 drone:robosense_lidar

ros2 launch rslidar_sdk start.py

Run LIVOX LIDAR Image

docker run -it --rm --privileged=true --network=host --ipc=host --pid=host --name lidar1 drone:livox_lidar

ros2 launch livox_ros_driver2 msg_HAP_launch.py"

Run Jetson Humble Image

Note: It's just a base image, but in case you need it:

docker run -it --rm --privileged=true --network=host --ipc=host --pid=host --name jetson1 drone:jetson 

Copy

rsync -avzh --progress nvidia@192.168.1.30:/home/nvidia/bag/ /home/he/bag/
receiving incremental file list

Related

• Wiki page: https://github.com/szenergy/szenergy-public-resources/wiki/ROS-2-humble-jeston-docker
• Docker hub dustynv/ros: https://hub.docker.com/r/dustynv/ros
• Docker hub ubuntu/jammy: ttps://hub.docker.com/layers/library/ubuntu/jammy
• Jetson containers repo: https://github.com/dusty-nv/jetson-containers