containerization

ros dockerhub page

Using this repo with Docker.

• Directory structure to build and run the container:
  • parent_directory:
    • containerization
    • TapeWorm
• Use "docker compose build" inside containerization to build the container.
• Use "docker compose up" inside containerization to run the container.

Notes

Add Linux user to group

If a user is falling out of a docker permission group on computer restart check the output of echo $DOCKER_HOST. If the output is empty add the following line to .bashrc export DOCKER_HOST=unix:///var/run/docker.sock

Enable X11 forwarding

Linux and macOS need the following line to enable x11 forwarding xhost +localhost If the container was built previously use docker compose up --build to rebuild only necessary components. MacOS will need to install XQuartz to forward the container window. You must restart your computer and open a new terminal to enable.

SSH config

Not much modification is required but adding the line ForwardX11 yes

links used to migrate motor_control package to ros2 directory structure:

• https://docs.ros.org/en/jazzy/Tutorials/Beginner-Client-Libraries/Creating-Your-First-ROS2-Package.html

• https://docs.ros.org/en/crystal/Tutorials/Writing-A-Simple-Py-Publisher-And-Subscriber.html#create-a-package

• https://docs.ros.org/en/humble/How-To-Guides/Migrating-from-ROS1/Migrating-Python-Package-Example.html