Support Dockerfile

[GyuH13]

CHANGED

Dockerfiles, docker-compose.yml, and container.sh files for Humble and Jazzy versions have been added.

NOTE

• This container environment can be used on both PC and SBC without distinction.

In docker folder :

• Pull docker image and create container

./container.sh start 

• Enter the container

./container.sh enter 

[gemini-code-assist]

Summary of Changes

Hello @GyuH13, I'm Gemini Code Assist¹! I'm currently reviewing this pull request and will post my feedback shortly. In the meantime, here's a summary to help you and other reviewers quickly get up to speed!

This pull request significantly enhances the Dockerization strategy for TurtleBot3 by introducing a structured and modular approach. It now provides dedicated Dockerfiles and Docker Compose configurations tailored for both ROS2 Humble and Jazzy distributions, as well as optimized setups for PC and Single Board Computer environments. This change aims to improve the flexibility, maintainability, and robustness of development and deployment workflows for TurtleBot3 users, ensuring that each platform and ROS version benefits from a purpose-built and efficient Docker image.

Highlights

• Refactored Docker Setup: The previous monolithic Dockerfile has been replaced with a modular structure, providing distinct Dockerfiles and Docker Compose configurations for different ROS2 distributions and target platforms.
• ROS2 Distribution Support: Dedicated Docker environments are now available for both ROS2 Humble and Jazzy distributions, ensuring compatibility and optimized setups for each version.
• Platform-Specific Configurations: Separate Dockerfiles and Docker Compose files have been introduced for PC (Personal Computer) and SBC (Single Board Computer) deployments, allowing for tailored package installations and resource management.
• Streamlined Package Management: Package installations within the Dockerfiles have been optimized, leveraging ROS apt packages where possible and explicitly managing dependencies for each platform.
• Enhanced User Experience: The new Docker images include pre-configured bash aliases (e.g., 'cb' for colcon build) and environment variables (ROS_DOMAIN_ID, TURTLEBOT3_MODEL, LDS_MODEL) for convenience.

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[Copilot]

Pull Request Overview

This PR introduces standardized Docker support for TurtleBot3 across PC and single-board computer (SBC) configurations for both ROS2 Humble and Jazzy distributions. The changes replace a single monolithic Dockerfile with organized, distribution-specific Docker configurations.

Key Changes:

• Created separate Dockerfiles and docker-compose configurations for PC and SBC deployments across Humble and Jazzy distributions
• Standardized container configurations with consistent security and resource settings
• Removed the legacy root-level Dockerfile in favor of the organized structure

Reviewed Changes

Copilot reviewed 9 out of 9 changed files in this pull request and generated 4 comments.

Show a summary per file

File	Description
docker/jazzy/sbc/docker-compose.yml	New compose file for Jazzy SBC deployment with standardized container settings
docker/jazzy/sbc/Dockerfile.sbc	New Dockerfile for Jazzy SBC with LiDAR drivers and minimal dependencies
docker/jazzy/pc/docker-compose.yml	Updated compose file for Jazzy PC, standardizing settings and volume mounts
docker/jazzy/pc/Dockerfile.pc	New Dockerfile for Jazzy PC with desktop, navigation, and cartographer packages
docker/humble/sbc/docker-compose.yml	New compose file for Humble SBC deployment with standardized container settings
docker/humble/sbc/Dockerfile.sbc	New Dockerfile for Humble SBC with LiDAR drivers and minimal dependencies
docker/humble/pc/docker-compose.yml	New compose file for Humble PC deployment with standardized container settings
docker/humble/pc/Dockerfile.pc	New Dockerfile for Humble PC with desktop, navigation, and cartographer packages
Dockerfile	Removed legacy root-level Dockerfile replaced by organized structure

---

_{Tip: Customize your code reviews with copilot-instructions.md. Create the file or learn how to get started.}

[Copilot]

The environment variables TURTLEBOT3_MODEL and LDS_MODEL are exported with empty values. This requires users to manually edit ~/.bashrc after container startup. Consider either removing these exports or providing sensible defaults (e.g., 'burger' for TURTLEBOT3_MODEL and 'LDS-01' for LDS_MODEL) to improve the out-of-box experience.

Suggested change

	echo "export TURTLEBOT3_MODEL= # burger, waffle, waffle_pi" >> ~/.bashrc && \
	echo "export LDS_MODEL= # LDS-01, LDS-02, LDS-03" >> ~/.bashrc
	echo "export TURTLEBOT3_MODEL=burger # burger, waffle, waffle_pi" >> ~/.bashrc && \
	echo "export LDS_MODEL=LDS-01 # LDS-01, LDS-02, LDS-03" >> ~/.bashrc

[Copilot]

The environment variables TURTLEBOT3_MODEL and LDS_MODEL are exported with empty values. This requires users to manually edit ~/.bashrc after container startup. Consider either removing these exports or providing sensible defaults (e.g., 'burger' for TURTLEBOT3_MODEL and 'LDS-01' for LDS_MODEL) to improve the out-of-box experience.

Suggested change

	echo "export TURTLEBOT3_MODEL= # burger, waffle, waffle_pi" >> ~/.bashrc && \
	echo "export LDS_MODEL= # LDS-01, LDS-02, LDS-03" >> ~/.bashrc
	echo "export TURTLEBOT3_MODEL=burger # burger, waffle, waffle_pi" >> ~/.bashrc && \
	echo "export LDS_MODEL=LDS-01 # LDS-01, LDS-02, LDS-03" >> ~/.bashrc

[gemini-code-assist]

Code Review

This pull request significantly improves the Docker setup by providing dedicated Dockerfiles and docker-compose files for both PC and SBC platforms across Humble and Jazzy ROS distributions. This modular approach is a great step towards better maintainability. The changes correctly leverage pre-built binaries for dependencies, which is more efficient than building from source. My review includes several suggestions to further enhance the setup, focusing on security by reducing container privileges, improving usability by setting default environment variables, and optimizing the Docker images for SBCs.

[gemini-code-assist]

Using privileged: true gives the container full root access to the host machine, which poses a significant security risk. It's highly recommended to avoid this. Instead, consider granting only the necessary capabilities via cap_add and mapping specific devices (e.g., /dev/ttyUSB0) using the devices key. This follows the principle of least privilege.

[gemini-code-assist]

Using privileged: true gives the container full root access to the host machine, which poses a significant security risk. It's highly recommended to avoid this. Instead, consider granting only the necessary capabilities via cap_add and mapping specific devices (e.g., /dev/ttyUSB0) using the devices key. This follows the principle of least privilege.

[gemini-code-assist]

Using privileged: true gives the container full root access to the host machine, which poses a significant security risk. It's highly recommended to avoid this. Instead, consider granting only the necessary capabilities via cap_add and mapping specific devices (e.g., /dev/ttyUSB0) using the devices key. This follows the principle of least privilege.

[gemini-code-assist]

Using privileged: true gives the container full root access to the host machine, which poses a significant security risk. It's highly recommended to avoid this. Instead, consider granting only the necessary capabilities via cap_add and mapping specific devices (e.g., /dev/ttyUSB0) using the devices key. This follows the principle of least privilege.

[gemini-code-assist]

Exporting TURTLEBOT3_MODEL and LDS_MODEL with empty values can lead to runtime errors if scripts expect them to be set. It's more robust and user-friendly to provide sensible defaults. Users can still override them if needed.

    echo "export TURTLEBOT3_MODEL=burger # burger, waffle, waffle_pi" >> ~/.bashrc && \
    echo "export LDS_MODEL=LDS-01 # LDS-01, LDS-02, LDS-03" >> ~/.bashrc

[gemini-code-assist]

These two RUN instructions can be combined into a single layer. This is a Docker best practice that helps to reduce the final image size and the number of layers, which is especially beneficial for resource-constrained SBCs.

RUN mkdir -p ${COLCON_WS}/src && \
    cd ${COLCON_WS}/src && \
    git clone -b humble https://github.com/ROBOTIS-GIT/turtlebot3.git && \
    cd turtlebot3 && \
    rm -rf turtlebot3_cartographer turtlebot3_navigation2

[gemini-code-assist]

Exporting TURTLEBOT3_MODEL and LDS_MODEL with empty values can lead to runtime errors if scripts expect them to be set. It's more robust and user-friendly to provide sensible defaults. Users can still override them if needed.

    echo "export TURTLEBOT3_MODEL=burger # burger, waffle, waffle_pi" >> ~/.bashrc && \
    echo "export LDS_MODEL=LDS-01 # LDS-01, LDS-02, LDS-03" >> ~/.bashrc

[gemini-code-assist]

Exporting TURTLEBOT3_MODEL and LDS_MODEL with empty values can lead to runtime errors if scripts expect them to be set. It's more robust and user-friendly to provide sensible defaults. Users can still override them if needed.

    echo "export TURTLEBOT3_MODEL=burger # burger, waffle, waffle_pi" >> ~/.bashrc && \
    echo "export LDS_MODEL=LDS-01 # LDS-01, LDS-02, LDS-03" >> ~/.bashrc

[gemini-code-assist]

These two RUN instructions can be combined into a single layer. This is a Docker best practice that helps to reduce the final image size and the number of layers, which is especially beneficial for resource-constrained SBCs.

RUN mkdir -p ${COLCON_WS}/src && \
    cd ${COLCON_WS}/src && \
    git clone -b jazzy https://github.com/ROBOTIS-GIT/turtlebot3.git && \
    cd turtlebot3 && \
    rm -rf turtlebot3_cartographer turtlebot3_navigation2

[gemini-code-assist]

Exporting TURTLEBOT3_MODEL and LDS_MODEL with empty values can lead to runtime errors if scripts expect them to be set. It's more robust and user-friendly to provide sensible defaults. Users can still override them if needed.

    echo "export TURTLEBOT3_MODEL=burger # burger, waffle, waffle_pi" >> ~/.bashrc && \
    echo "export LDS_MODEL=LDS-01 # LDS-01, LDS-02, LDS-03" >> ~/.bashrc

[sunghowoo]

LGTM. With Docker in place, dependency problems should be much easier to manage now. Nice work