Support Dockerfile #1124
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| Original file line number | Diff line number | Diff line change |
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| # Use the base ROS2 humble image | ||
| FROM ros:humble-ros-base | ||
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| # Set environment variables | ||
| ENV DEBIAN_FRONTEND=noninteractive | ||
| ENV COLCON_WS=/root/turtlebot3_ws | ||
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| # Install the required packages in a single layer and clean up afterwards | ||
| RUN apt-get update && \ | ||
| apt-get install -y --no-install-recommends \ | ||
| ros-${ROS_DISTRO}-desktop \ | ||
| python3-colcon-common-extensions \ | ||
| git \ | ||
| nano \ | ||
| ros-${ROS_DISTRO}-cartographer \ | ||
| ros-${ROS_DISTRO}-cartographer-ros \ | ||
| ros-${ROS_DISTRO}-navigation2 \ | ||
| ros-${ROS_DISTRO}-nav2-bringup \ | ||
| ros-${ROS_DISTRO}-turtlebot3-msgs \ | ||
| ros-${ROS_DISTRO}-dynamixel-sdk \ | ||
| ros-${ROS_DISTRO}-xacro \ | ||
| && rm -rf /var/lib/apt/lists/* | ||
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| WORKDIR ${COLCON_WS} | ||
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| RUN mkdir -p ${COLCON_WS}/src && \ | ||
| cd ${COLCON_WS}/src && \ | ||
| git clone -b humble https://github.com/ROBOTIS-GIT/turtlebot3.git | ||
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| RUN bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash && \ | ||
| cd ${COLCON_WS} && \ | ||
| colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release" | ||
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| RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> ~/.bashrc && \ | ||
| echo "source ${COLCON_WS}/install/setup.bash" >> ~/.bashrc && \ | ||
| echo "alias cb='colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release'" >> ~/.bashrc && \ | ||
| echo "export ROS_DOMAIN_ID=30 # TURTLEBOT3" >> ~/.bashrc && \ | ||
| echo "export TURTLEBOT3_MODEL= # burger, waffle, waffle_pi" >> ~/.bashrc && \ | ||
| echo "export LDS_MODEL= # LDS-01, LDS-02, LDS-03" >> ~/.bashrc | ||
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| CMD ["bash"] | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,30 @@ | ||
| services: | ||
| turtlebot3: | ||
| container_name: turtlebot3 | ||
| image: robotis/turtlebot3:humble-pc-latest | ||
| # build: | ||
| # context: . | ||
| # dockerfile: Dockerfile.pc | ||
| tty: true | ||
| restart: unless-stopped | ||
| cap_add: | ||
| - SYS_NICE | ||
| ulimits: | ||
| rtprio: 99 | ||
| rttime: -1 | ||
| memlock: 8428281856 | ||
| network_mode: host | ||
| ipc: host | ||
| pid: host | ||
| environment: | ||
| - DISPLAY=${DISPLAY} | ||
| - QT_X11_NO_MITSHM=1 | ||
| volumes: | ||
| - /dev:/dev | ||
| - /dev/shm:/dev/shm | ||
| - /tmp/.X11-unix:/tmp/.X11-unix:rw | ||
| - /tmp/.docker.xauth:/tmp/.docker.xauth:rw | ||
| - ./workspace:/workspace | ||
| - ../../../:/root/turtlebot3_ws/src/turtlebot3 | ||
| privileged: true | ||
| command: bash |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,47 @@ | ||
| # Use the base ROS2 humble image | ||
| FROM ros:humble-ros-base | ||
|
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| # Set environment variables | ||
| ENV DEBIAN_FRONTEND=noninteractive | ||
| ENV COLCON_WS=/root/turtlebot3_ws | ||
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| # Install the required packages in a single layer and clean up afterwards | ||
| RUN apt-get update && \ | ||
| apt-get install -y --no-install-recommends \ | ||
| python3-argcomplete \ | ||
| python3-colcon-common-extensions \ | ||
| libboost-system-dev \ | ||
| build-essential \ | ||
| libudev-dev \ | ||
| udev \ | ||
| git \ | ||
| nano \ | ||
| ros-${ROS_DISTRO}-turtlebot3-msgs \ | ||
| ros-${ROS_DISTRO}-dynamixel-sdk \ | ||
| ros-${ROS_DISTRO}-xacro \ | ||
| ros-${ROS_DISTRO}-hls-lfcd-lds-driver \ | ||
| ros-${ROS_DISTRO}-ld08-driver \ | ||
| ros-${ROS_DISTRO}-coin-d4-driver \ | ||
| && rm -rf /var/lib/apt/lists/* | ||
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| WORKDIR ${COLCON_WS} | ||
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| RUN mkdir -p ${COLCON_WS}/src && \ | ||
| cd ${COLCON_WS}/src && \ | ||
| git clone -b humble https://github.com/ROBOTIS-GIT/turtlebot3.git | ||
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| RUN cd ${COLCON_WS}/src/turtlebot3 && \ | ||
| rm -rf turtlebot3_cartographer turtlebot3_navigation2 | ||
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| RUN bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash && \ | ||
| cd ${COLCON_WS} && \ | ||
| colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release" | ||
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| RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> ~/.bashrc && \ | ||
| echo "source ${COLCON_WS}/install/setup.bash" >> ~/.bashrc && \ | ||
| echo "alias cb='colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release'" >> ~/.bashrc && \ | ||
| echo "export ROS_DOMAIN_ID=30 # TURTLEBOT3" >> ~/.bashrc && \ | ||
| echo "export TURTLEBOT3_MODEL= # burger, waffle, waffle_pi" >> ~/.bashrc && \ | ||
| echo "export LDS_MODEL= # LDS-01, LDS-02, LDS-03" >> ~/.bashrc | ||
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| CMD ["bash"] | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,30 @@ | ||
| services: | ||
| turtlebot3: | ||
| container_name: turtlebot3 | ||
| image: robotis/turtlebot3:humble-sbc-latest | ||
| # build: | ||
| # context: . | ||
| # dockerfile: Dockerfile.sbc | ||
| tty: true | ||
| restart: unless-stopped | ||
| cap_add: | ||
| - SYS_NICE | ||
| ulimits: | ||
| rtprio: 99 | ||
| rttime: -1 | ||
| memlock: 8428281856 | ||
| network_mode: host | ||
| ipc: host | ||
| pid: host | ||
| environment: | ||
| - DISPLAY=${DISPLAY} | ||
| - QT_X11_NO_MITSHM=1 | ||
| volumes: | ||
| - /dev:/dev | ||
| - /dev/shm:/dev/shm | ||
| - /tmp/.X11-unix:/tmp/.X11-unix:rw | ||
| - /tmp/.docker.xauth:/tmp/.docker.xauth:rw | ||
| - ./workspace:/workspace | ||
| - ../../../:/root/turtlebot3_ws/src/turtlebot3 | ||
| privileged: true | ||
|
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| command: bash | ||
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| Original file line number | Diff line number | Diff line change | ||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| @@ -0,0 +1,41 @@ | ||||||||||
| # Use the base ROS2 jazzy image | ||||||||||
| FROM ros:jazzy-ros-base | ||||||||||
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| # Set environment variables | ||||||||||
| ENV DEBIAN_FRONTEND=noninteractive | ||||||||||
| ENV COLCON_WS=/root/turtlebot3_ws | ||||||||||
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| # Install the required packages in a single layer and clean up afterwards | ||||||||||
| RUN apt-get update && \ | ||||||||||
| apt-get install -y --no-install-recommends \ | ||||||||||
| ros-${ROS_DISTRO}-desktop \ | ||||||||||
| python3-colcon-common-extensions \ | ||||||||||
| git \ | ||||||||||
| nano \ | ||||||||||
| ros-${ROS_DISTRO}-cartographer \ | ||||||||||
| ros-${ROS_DISTRO}-cartographer-ros \ | ||||||||||
| ros-${ROS_DISTRO}-navigation2 \ | ||||||||||
| ros-${ROS_DISTRO}-nav2-bringup \ | ||||||||||
| ros-${ROS_DISTRO}-turtlebot3-msgs \ | ||||||||||
| ros-${ROS_DISTRO}-dynamixel-sdk \ | ||||||||||
| ros-${ROS_DISTRO}-xacro \ | ||||||||||
| && rm -rf /var/lib/apt/lists/* | ||||||||||
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| WORKDIR ${COLCON_WS} | ||||||||||
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| RUN mkdir -p ${COLCON_WS}/src && \ | ||||||||||
| cd ${COLCON_WS}/src && \ | ||||||||||
| git clone -b jazzy https://github.com/ROBOTIS-GIT/turtlebot3.git | ||||||||||
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| RUN bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash && \ | ||||||||||
| cd ${COLCON_WS} && \ | ||||||||||
| colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release" | ||||||||||
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| RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> ~/.bashrc && \ | ||||||||||
| echo "source ${COLCON_WS}/install/setup.bash" >> ~/.bashrc && \ | ||||||||||
| echo "alias cb='colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release'" >> ~/.bashrc && \ | ||||||||||
| echo "export ROS_DOMAIN_ID=30 # TURTLEBOT3" >> ~/.bashrc && \ | ||||||||||
| echo "export TURTLEBOT3_MODEL= # burger, waffle, waffle_pi" >> ~/.bashrc && \ | ||||||||||
| echo "export LDS_MODEL= # LDS-01, LDS-02, LDS-03" >> ~/.bashrc | ||||||||||
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| echo "export TURTLEBOT3_MODEL= # burger, waffle, waffle_pi" >> ~/.bashrc && \ | |
| echo "export LDS_MODEL= # LDS-01, LDS-02, LDS-03" >> ~/.bashrc | |
| echo "export TURTLEBOT3_MODEL=burger # burger, waffle, waffle_pi" >> ~/.bashrc && \ | |
| echo "export LDS_MODEL=LDS-01 # LDS-01, LDS-02, LDS-03" >> ~/.bashrc |
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Exporting TURTLEBOT3_MODEL and LDS_MODEL with empty values can lead to runtime errors if scripts expect them to be set. It's more robust and user-friendly to provide sensible defaults. Users can still override them if needed.
echo "export TURTLEBOT3_MODEL=burger # burger, waffle, waffle_pi" >> ~/.bashrc && \
echo "export LDS_MODEL=LDS-01 # LDS-01, LDS-02, LDS-03" >> ~/.bashrc
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,26 +1,30 @@ | ||
| services: | ||
| turtlebot3: | ||
| container_name: turtlebot3 | ||
| image: robotis/turtlebot3:jazzy-pc-latest | ||
| # build: | ||
| # context: . | ||
| # dockerfile: Dockerfile.pc | ||
| tty: true | ||
| restart: unless-stopped | ||
| cap_add: | ||
| - SYS_NICE | ||
| ulimits: | ||
| rtprio: 99 | ||
| rttime: -1 | ||
| memlock: 8428281856 | ||
| network_mode: host | ||
| ipc: host | ||
| pid: host | ||
| environment: | ||
| - DISPLAY=${DISPLAY} | ||
| - QT_X11_NO_MITSHM=1 | ||
| volumes: | ||
| - /dev:/dev | ||
| - /dev/shm:/dev/shm | ||
| - /tmp/.X11-unix:/tmp/.X11-unix:rw | ||
| - /tmp/.docker.xauth:/tmp/.docker.xauth:rw | ||
| - ./workspace:/workspace | ||
| - ../../../:/root/turtlebot3_ws/src/turtlebot3 | ||
| privileged: true | ||
| command: bash |
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,47 @@ | ||
| # Use the base ROS2 jazzy image | ||
| FROM ros:jazzy-ros-base | ||
|
|
||
| # Set environment variables | ||
| ENV DEBIAN_FRONTEND=noninteractive | ||
| ENV COLCON_WS=/root/turtlebot3_ws | ||
|
|
||
| # Install the required packages in a single layer and clean up afterwards | ||
| RUN apt-get update && \ | ||
| apt-get install -y --no-install-recommends \ | ||
| python3-argcomplete \ | ||
| python3-colcon-common-extensions \ | ||
| libboost-system-dev \ | ||
| build-essential \ | ||
| libudev-dev \ | ||
| udev \ | ||
| git \ | ||
| nano \ | ||
| ros-${ROS_DISTRO}-turtlebot3-msgs \ | ||
| ros-${ROS_DISTRO}-dynamixel-sdk \ | ||
| ros-${ROS_DISTRO}-xacro \ | ||
| ros-${ROS_DISTRO}-hls-lfcd-lds-driver \ | ||
| ros-${ROS_DISTRO}-ld08-driver \ | ||
| ros-${ROS_DISTRO}-coin-d4-driver \ | ||
| && rm -rf /var/lib/apt/lists/* | ||
|
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| WORKDIR ${COLCON_WS} | ||
|
|
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| RUN mkdir -p ${COLCON_WS}/src && \ | ||
| cd ${COLCON_WS}/src && \ | ||
| git clone -b jazzy https://github.com/ROBOTIS-GIT/turtlebot3.git | ||
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| RUN cd ${COLCON_WS}/src/turtlebot3 && \ | ||
| rm -rf turtlebot3_cartographer turtlebot3_navigation2 | ||
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| RUN bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash && \ | ||
| cd ${COLCON_WS} && \ | ||
| colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release" | ||
|
|
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| RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> ~/.bashrc && \ | ||
| echo "source ${COLCON_WS}/install/setup.bash" >> ~/.bashrc && \ | ||
| echo "alias cb='colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release'" >> ~/.bashrc && \ | ||
| echo "export ROS_DOMAIN_ID=30 # TURTLEBOT3" >> ~/.bashrc && \ | ||
| echo "export TURTLEBOT3_MODEL= # burger, waffle, waffle_pi" >> ~/.bashrc && \ | ||
| echo "export LDS_MODEL= # LDS-01, LDS-02, LDS-03" >> ~/.bashrc | ||
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| CMD ["bash"] | ||
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Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,30 @@ | ||
| services: | ||
| turtlebot3: | ||
| container_name: turtlebot3 | ||
| image: robotis/turtlebot3:jazzy-sbc-latest | ||
| # build: | ||
| # context: . | ||
| # dockerfile: Dockerfile.sbc | ||
| tty: true | ||
| restart: unless-stopped | ||
| cap_add: | ||
| - SYS_NICE | ||
| ulimits: | ||
| rtprio: 99 | ||
| rttime: -1 | ||
| memlock: 8428281856 | ||
| network_mode: host | ||
| ipc: host | ||
| pid: host | ||
| environment: | ||
| - DISPLAY=${DISPLAY} | ||
| - QT_X11_NO_MITSHM=1 | ||
| volumes: | ||
| - /dev:/dev | ||
| - /dev/shm:/dev/shm | ||
| - /tmp/.X11-unix:/tmp/.X11-unix:rw | ||
| - /tmp/.docker.xauth:/tmp/.docker.xauth:rw | ||
| - ./workspace:/workspace | ||
| - ../../../:/root/turtlebot3_ws/src/turtlebot3 | ||
| privileged: true | ||
|
There was a problem hiding this comment. Using |
||
| command: bash | ||
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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.