Docker-ROS2

What is this?

• A Docker container for ROS2 and Gazebo.
• GUI is enabled if WSLg is installed.

Prerequisites

• docker, docker-compose
• (Optional) WSLg

Getting started

git clone {this-repository}
cd {this-repository}
docker-compose build
docker-compose up -d
docker-compose exec ros2 bash

ROS2

From Introducing turtlesim and rqt — ROS 2 Documentation: Galactic documentation

ros2 run turtlesim turtlesim_node

Gazebo

From Testing Gazebo and ROS 2 integration | Gazebo : Tutorial

gazebo --verbose /opt/ros/galactic/share/gazebo_plugins/worlds/gazebo_ros_diff_drive_demo.world

Open another terminal

ros2 topic pub /demo/cmd_demo geometry_msgs/Twist '{linear: {x: 1.0}, angular: {z: 1.0}}' -1

Set up your workspace

You may better to follow this steps to set up your workspace. Creating a workspace — ROS 2 Documentation: Galactic documentation

Other commands

docker-compose

docker-compose stop

docker-compose down

docker-compose exec --user root ros2 bash