ros2dev

This project builds a ROS 2.0 development environment in Docker. The user can then step into the ROS 2.0 environment to perform additional ROS 2.0 actions (build, rostopic list, etc.).

Basic Setup

Generate the Dockerfiles to build the base ROS 2.0 environment:

$ ros2dev generate

The generated files are placed in the ./generated directory by default. Along with the generated Dockerfile and docker-compose.yml files is a config.json file, which contains cached variables from the generate step.

Build the Docker image for the base ROS 2.0 environment:

$ ros2dev build

Step into the base ROS 2.0 environment:

$ ros2dev env

Run a single command in the ROS 2.0 environment:

$ ros2dev run -c "ros2 topic list"

Install Additional Dependencies

Since jinja2 is used to generate the Dockerfiles, a developer can extend the base Dockerfile by overriding the "third_party" block. An example is provided in this package at: ./src/ros2dev/templates/third_party.example. To generate a Dockerfile with an override, use the following command:

$ ros2dev generate -o ./src/ros2dev/templates/third_party.example

Then build the docker image:

$ ros2dev build

Build a ROS 2.0 Workspace

To build a ROS 2.0 development environment for a ROS workspace, navigate to the workspace root directory and run the following command:

$ ros2dev generate -w ./src -o ./third_party.dockerfile

By convention, there should be a src directory in the root of a ROS workspace, so we pass the path to the src directory to the -w (--ws_copy_dir) option. In this example, we are also using the override option (-o) to install additional dependencies before building the ROS workspace.

Now you can build the docker image for the ROS environment and step into the ROS environment:

$ ros2dev build
$ ros2dev env