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Docker images setup

Machine prerequisites

Build images

Inside the docker folder in each module, there are different docker images. The convention for the naming of the images chosen is home:area-version, where version contains the platform used: cpu, cuda or l4t-version. Also, the Dockerfile should be named according to the feature and version.

Current images available:

  • Noetic base full

Noetic base example

This is the example for setting up a basic ROS Noetic image, used to create all the workspaces and capable of the basic ROS features (catkin, rviz, rqt).

The dockerfile was named Dockerfile.noetic.full, and the following command was executed to build the image from the root of the repo:

docker build -f docker/Dockerfile.noetic.full -t home/main:noetic-full . # -f to specify the path to the file, -t to add the name and the tag
docker images # In the output, the image home/main with tag noetic-full should appear

Create a container

With the image built, create a container with a name similar to home-feature. The philosophy of the containers is to be ephimeral and any important command that is needed to run inside a container should be instead in the Dockerfile of the image.

Noetic base example

Using the previously built image (home/main:noetic-full), the following run command was executed in the root of the repo to create an interactive bash container:

xhost + # To support visual features
docker run -it --name home-main --net=host --privileged --env="QT_X11_NO_MITSHM=1" -e DISPLAY=$DISPLAY -eQT_DEBUG_PLUGINS=1 -v /tmp/.X11-unix:/tmp/.X11-unix --device /dev/video0:/dev/video0 --user $(id -u):$(id -g) -v $(pwd):/workspace home/main:noetic-full bash # The name is home-main, most of the additional parameters are needed for visual tools

The parameter -v $(pwd):/workspace mounts the current directory in the local machine, inside of the /workspace folder of the container.

Execution of the container

After the run command for the creation, for entering the container and developing, the following commands have to be executed:

docker start container-name
xhost +
docker exec -it --user $(id -u):$(id -g) container-name bash

Important: The user parameter is neccessary in order to run docker in rootless mode, otherwise, files and folders created inside the container will be protected and only editable using sudo.