ROS2 and Docker files for the course AIS2105 Mechatronics and Automation
After installing docker (and WSL2 if you are using Windows), start up the docker engine.
Make sure that you have set up SSH on your computer:
ssh-add -l
If not, set up SSH, For instance using this: https://docs.github.com/en/authentication/connecting-to-github-with-ssh/generating-a-new-ssh-key-and-adding-it-to-the-ssh-agent
Fork and clone this git repository and navigate to the folder with a terminal. (For instance in VSCode, open this folder as a working folder, and open a new terminal)
Before running the code, check that the
entrypoint.shfile is has a line ending of LF (Line Feed) not CRLF (Carrige Return, Line Feed). To do this (in VSCode at least) open the file and look in the lower right corner. It says somthing about line and column position of the cursor, number of spaces, UTF-8, etc. There it says LF or CRLF. Click that and change to LF. Save the file
Run the following code and pray:
docker compose up windows-wsl
If you have Nvidia instead run
docker compose up windows-wsl-nvidia
Run the following code:
brew install xquartz
and restart your PC After that run
xhost +
Open XQuartz (which should be running), go into Settings/Preferences->Security->allow connections from network clients
Run the following code and pray:
docker compose up mac
There is a problem that OpenGL does not work because docker cannot find a graphics driver. If you find a solution, contact me.
Most modern Linux distribution have some form of authentication when connecting to the X11 server. Therefore docker will need some way to authenticate their permission to open GUI applications. Run the following on your host system first to allow for GUI applications:
xauth nlist $DISPLAY | sed -e 's/^..../ffff/' | xauth -f .docker.xauth nmerge -
Ignore below output, it is expected:
xauth: file .docker.xauth does not exist
Run the following and pray:
docker compose up linux
You might need root permissions to run a container, this can be avoided by adding your user to the docker group:
sudo usermod -a -G docker $USER
Every time you want to use this project, run
docker compose up windows-wsl/windows-wsl-nvidia/mac/linux
If you're using VSCode, click the small green icon in the lower left corner. Click then "Attack to Running Container" and select the running container. A new window pops up, which will be your main development platform.
The src folder on your computer is linked to the /workspaces/ros2_ws/src folder inside your docker container, so any files changed or added in either place will be synced.