ROS2-DOCKER_EXAMPLE

This is just a minimal example showing how to run ROS2 Foxy on Docker Container with osrf/ros:foxy-desktop as base image.

The docker-compose.yaml here will run 2 services: turtlesim_node and turtle_teleop_key

If you want to use ubuntu:20.04 as base image, you may refer to this repo.

RUNNING ON DOCKER CONTAINER

To run with docker run

1. Run a container and run turtlesim_node

   ./dockerRun.sh
   ros2 run turtlesim turtlesim_node
   

2. Open a new terminal, then run another container to run turtle_teleop

   ./dockerRun.sh
   ros2 run turtlesim turtle_teleop
   

To run with docker-compose

1. Run both turtlesim_node and turtle_teleop_key services

   ./dockerComposeUp.sh
   

2. Open another terminal and attach to the turtle_teleop service to use the keyboard teleop

   sudo docker attach teleop_key
   

3. You need to docker-compose down after using it

   sudo docker-compose down