ROS Docker Setup

This setup provides a Docker container for ROS (Robot Operating System) with a full desktop environment, ideal for robotic development and simulation.

Prerequisites: Ensure Docker is installed on your system before proceeding. Instructions for installing Docker are provided at the end of this document.

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Table of Contents

• Installation
• Getting Started
• Workspace Setup
• Installing Additional Features
• Docker Installation Instructions
• Uninstalling Docker and Cleaning Up

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Installation

To clone the repository for your specific ROS distribution, use the appropriate command below:

• ROS Kinetic:

  git clone -b ros_kinetic https://github.com/louislelay/ros_docker.git

• ROS Melodic:

  git clone -b ros_melodic https://github.com/louislelay/ros_docker.git

• ROS Noetic:

  git clone -b ros_noetic https://github.com/louislelay/ros_docker.git

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Getting Started

1. Install the Docker Image:
   Run the following command to install the Docker image:

   ./install_image.bash

   Depending on the power of your computer, this process may take some time. However, once it's done, any future changes you make to this file will be much faster.

2. Start the Docker Container:
   Launch the Docker container using this command:

   ./start_docker.bash

3. Exit the Docker Container:
   To exit the container, type exit.

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Workspace Setup

The home directory is shared between your computer and the Docker container, ensuring that files persist after you exit the container. To set up your ROS workspace:

1. Create a catkin_ws directory inside the home folder.
2. Inside catkin_ws, create a src directory.
3. You can now develop ROS packages within the src folder.

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Installing Additional Features

Changes made within the Docker container are temporary. To make changes permanent:

1. Add the required installation commands to the Dockerfile.
2. Rebuild the Docker image by running:

   ./install_image.bash

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Docker Installation Instructions

1. Remove Old Docker Packages:

   sudo apt-get remove -y docker.io docker-doc docker-compose docker-compose-v2 podman-docker containerd runc

2. Update Package List:

   sudo apt-get update

3. Install Essential Packages:

   sudo apt-get install -y ca-certificates curl gnupg

4. Add Docker’s Official GPG Key:

   sudo install -m 0755 -d /etc/apt/keyrings
   curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo gpg --dearmor -o /etc/apt/keyrings/docker.gpg
   sudo chmod a+r /etc/apt/keyrings/docker.gpg

5. Set Up Docker Repository:

   echo "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/docker.gpg] https://download.docker.com/linux/ubuntu $(. /etc/os-release && echo $VERSION_CODENAME) stable" | sudo tee /etc/apt/sources.list.d/docker.list > /dev/null

6. Update Package List Again:

   sudo apt-get update

7. Install Docker:

   sudo apt-get install -y docker-ce docker-ce-cli containerd.io docker-buildx-plugin docker-compose-plugin

8. Run Docker Without Sudo:

   sudo groupadd docker
   sudo usermod -aG docker $USER
   newgrp docker

9. Verify Docker Installation:

   docker run hello-world

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Uninstalling Docker and Cleaning Up

1. Uninstall Docker Packages:

   sudo apt-get purge -y docker-ce docker-ce-cli containerd.io docker-buildx-plugin docker-compose-plugin docker-ce-rootless-extras

2. Remove Docker Data:

   sudo rm -rf /var/lib/docker
   sudo rm -rf /var/lib/containerd