Support Dockerfile

.gitignore

@@ -59,3 +59,4 @@ build-*/
 *.txt.user
 *.gch
 /.project
+.DS_Store

docker/humble/Dockerfile

@@ -0,0 +1,49 @@
+# Use the base ROS2 humble image
+FROM ros:humble-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 \
+    ros-${ROS_DISTRO}-desktop \
+    python3-argcomplete \
+    python3-colcon-common-extensions \
+    libboost-system-dev \
+    build-essential \
+    libudev-dev \
+    udev \
+    git \
+    nano \
+    ros-${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 \
+    ros-${ROS_DISTRO}-hls-lfcd-lds-driver \
+    ros-${ROS_DISTRO}-ld08-driver \
+    ros-${ROS_DISTRO}-coin-d4-driver \
+    && rm -rf /var/lib/apt/lists/*
+
+WORKDIR ${COLCON_WS}
+
+RUN mkdir -p ${COLCON_WS}/src && \
+    cd ${COLCON_WS}/src && \
+    git clone -b humble https://github.com/ROBOTIS-GIT/turtlebot3.git
+
+RUN bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash && \
+    cd ${COLCON_WS} && \
+    colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release"
+
+RUN echo "source /opt/ros/${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
+
+CMD ["bash"]

docker/humble/container.sh

@@ -0,0 +1,116 @@
+#!/bin/bash
+
+# Get the directory where the script is located
+SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
+CONTAINER_NAME="turtlebot3"
+
+# Determine whether to use docker-compose or docker compose
+if docker compose version &> /dev/null; then
+    COMPOSE_CMD="docker compose"
+else
+    COMPOSE_CMD="docker-compose"
+fi
+
+# Function to display help
+show_help() {
+    echo "Usage: $0 [command]"
+    echo ""
+    echo "Commands:"
+    echo "  help                    Show this help message"
+    echo "  start                   Start the container"
+    echo "  enter                   Enter the running container"
+    echo "  stop                    Stop the container"
+    echo ""
+    echo "Examples:"
+    echo "  $0 start                Start container"
+    echo "  $0 enter                Enter the running container"
+    echo "  $0 stop                 Stop the container"
+}
+
+# Function to start the container
+start_container() {
+    # Set up X11 forwarding only if DISPLAY is set
+    if [ -n "$DISPLAY" ]; then
+        echo "Setting up X11 forwarding..."
+        xhost +local:docker || true
+    else
+        echo "Warning: DISPLAY environment variable is not set. X11 forwarding will not be available."
+    fi
+
+    echo "Starting Turtlebot3 container..."
+
+    # Copy udev rule for TurtleBot3
+    sudo tee /etc/udev/rules.d/99-tb3.rules > /dev/null <<EOF
+ATTRS{idVendor}=="0483", ATTRS{idProduct}=="5740", ENV{ID_MM_DEVICE_IGNORE}="1", MODE:="0666"
+ATTRS{idVendor}=="0483", ATTRS{idProduct}=="df11", MODE:="0666"
+ATTRS{idVendor}=="fff1", ATTRS{idProduct}=="ff48", ENV{ID_MM_DEVICE_IGNORE}="1", MODE:="0666"
+ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", ENV{ID_MM_DEVICE_IGNORE}="1", MODE:="0666", SYMLINK+="tb3_lidar"
+EOF
+
+    # Reload udev rules
+    echo "Reloading udev rules..."
+    sudo udevadm control --reload-rules
+    sudo udevadm trigger
+
+    # Pull the latest images
+    $COMPOSE_CMD -f "${SCRIPT_DIR}/docker-compose.yml" pull
+
+    # Run docker-compose
+    $COMPOSE_CMD -f "${SCRIPT_DIR}/docker-compose.yml" up -d
+}
+
+# Function to enter the container
+enter_container() {
+    # Set up X11 forwarding only if DISPLAY is set
+    if [ -n "$DISPLAY" ]; then
+        echo "Setting up X11 forwarding..."
+        xhost +local:docker || true
+    else
+        echo "Warning: DISPLAY environment variable is not set. X11 forwarding will not be available."
+    fi
+
+    if ! docker ps | grep -q "$CONTAINER_NAME"; then
+        echo "Error: Container is not running"
+        exit 1
+    fi
+    docker exec -it "$CONTAINER_NAME" bash
+}
+
+# Function to stop the container
+stop_container() {
+    if ! docker ps | grep -q "$CONTAINER_NAME"; then
+        echo "Error: Container is not running"
+        exit 1
+    fi
+
+    echo "Warning: This will stop and remove the container. All unsaved data in the container will be lost."
+    read -p "Are you sure you want to continue? [y/N] " -n 1 -r
+    echo
+    if [[ $REPLY =~ ^[Yy]$ ]]; then
+        $COMPOSE_CMD -f "${SCRIPT_DIR}/docker-compose.yml" down
+    else
+        echo "Operation cancelled."
+        exit 0
+    fi
+}
+
+# Main command handling
+case "$1" in
+    "help")
+        show_help
+        ;;
+    "start")
+        start_container
+        ;;
+    "enter")
+        enter_container
+        ;;
+    "stop")
+        stop_container
+        ;;
+    *)
+        echo "Error: Unknown command"
+        show_help
+        exit 1
+        ;;
+esac

docker/humble/docker-compose.yml

@@ -0,0 +1,30 @@
+services:
+  turtlebot3:
+    container_name: turtlebot3
+    image: robotis/turtlebot3:humble-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

docker/jazzy/Dockerfile

@@ -0,0 +1,49 @@
+# 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 \
+    ros-${ROS_DISTRO}-desktop \
+    python3-argcomplete \
+    python3-colcon-common-extensions \
+    libboost-system-dev \
+    build-essential \
+    libudev-dev \
+    udev \
+    git \
+    nano \
+    ros-${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 \
+    ros-${ROS_DISTRO}-hls-lfcd-lds-driver \
+    ros-${ROS_DISTRO}-ld08-driver \
+    ros-${ROS_DISTRO}-coin-d4-driver \
+    && rm -rf /var/lib/apt/lists/*
+
+WORKDIR ${COLCON_WS}
+
+RUN mkdir -p ${COLCON_WS}/src && \
+    cd ${COLCON_WS}/src && \
+    git clone -b jazzy https://github.com/ROBOTIS-GIT/turtlebot3.git
+
+RUN bash -c "source /opt/ros/${ROS_DISTRO}/setup.bash && \
+    cd ${COLCON_WS} && \
+    colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release"
+
+RUN echo "source /opt/ros/${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
+
+CMD ["bash"]