README.md

Docker image for pcl_tutorials_ros

Installation

docker pull ghcr.io/shotaak/pcl_tutorials_ros:$ROS_DISTRO

Setup

The osrf/rocker tool enables to run ROS GUI application on docker easily.

Install ROS environment then you can

sudo apt install python3-rocker

Launch nodes

rocker --x11 --net=host --privileged ghcr.io/shotaak/pcl_tutorials_ros:$ROS_DISTRO \
    roslaunch pcl_tutorials_ros example.launch realsense:=true

Build package on docker image

Clone this package

mkdir -p ~/tutorials_ws/src
git clone https://github.com/ShotaAk/pcl_tutorials_ros ~/tutorials_ws/src

Build package

rocker --x11 --net=host --privileged \
    --volume ~/tutorials_ws:/root/overlay_ws \
    -- ghcr.io/shotaak/pcl_tutorials_ros:$ROS_DISTRO \
    catkin_make

Launch nodes

rocker --x11 --net=host --privileged \
    --volume ~/tutorials_ws:/root/overlay_ws \
    -- ghcr.io/shotaak/pcl_tutorials_ros:$ROS_DISTRO \
    roslaunch pcl_tutorials_ros example.launch realsense:=true

Build Docker image

$ cd pcl_tutorials_ros/.docker
$ ./build.sh noetic
...
Successfully tagged pcl_tutorials_ros:noetic

References

• Dockerfile for ROS project:
  • https://github.com/rt-net/crane_plus/tree/1.1.0/.docker
• Why is --privileged necessary for rocker command:
  • osrf/rocker#13