This repository contains the tools for generating a docker image for developing NOMAD ROS2 applications. Requires NVIDIA AARCH64.
docker build . -t duna-nomad-base for Jetson
docker build . -t duna-nomad-base -f Dockerfile.amd64 for x86
docker build . -t duna-nomad-base-testing -f Dockerfile.testing
The test container has rviz2 installed. To use it, we have to stream GUI apps to the host. Reference: https://janert.me/guides/running-gui-applications-in-a-docker-container/ NOTE: If you have RVIZ2 in the host machine, there is no need to run this container. Simply run the slam containers and the network will find the topics.
Allow connection to Xserver
- (on host):
xhost +local:
Run image with bind mounts.
- (on host)
docker run --rm --net host -v /tmp/.X11-unix:/tmp/.X11-unix -it duna-nomad-base-testing