Docker

README.md

@@ -35,6 +35,12 @@ vcs import src < src/repos.yaml
 rosdep install --from-paths src --ignore-src -r -y
 colcon build --symlink-install
 ```
+Copy the Dockerfile and the container scripts to the lbr-stack directory. Build and start the container. 
+```shell
+cp -r src/lbr_fri_ros2_stack/lbr_humble_docker/* .
+chmod +x container_build.sh 
+sudo ./container_build.sh
+```
 Next, launch the simulation via
 ```shell
 source install/setup.bash

lbr_humble_docker/Dockerfile

@@ -0,0 +1,26 @@
+FROM ros:humble-ros-base-jammy
+
+SHELL ["/bin/bash", "-c"]
+
+RUN apt update -y 
+RUN apt install vim python-is-python3 python3-pip python3-colcon-common-extensions -y
+RUN pip3 install scipy numpy
+# create workspace and build package
+# source workspace
+RUN source /opt/ros/humble/setup.bash && echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
+
+# create workspace
+RUN mkdir -p home/ros2_ws/src
+WORKDIR /home/ros2_ws/
+
+COPY ./src /home/ros2_ws/src
+RUN rosdep install -i --from-path src --rosdistro humble -y 
+
+# "--symlink-install" allows the code in the locally mounted volume ./src to be adjusted without rebuilding
+RUN source /opt/ros/humble/setup.bash && colcon build --symlink-install
+
+# source overlay workspace
+RUN source /home/ros2_ws/install/setup.bash && echo "source /home/ros2_ws/install/setup.bash" >> ~/.bashrc
+CMD ["/bin/bash"]
+
+

lbr_humble_docker/container_build.sh

@@ -0,0 +1,19 @@
+# dont forget to chmod +x container_build.sh 
+xhost + 
+
+docker rm lbr_stack_container
+
+docker build -t lbr_stack_container .
+
+docker run -it \
+	--network host \
+	--ipc host \
+	--volume ./src:/home/ros2_ws/src \
+	--volume /tmp/.X11-unix:/tmp/.X11-unix \
+	--volume /dev/shm:/dev/shm \
+	--volume /dev:/dev --privileged \
+	--env DISPLAY \
+	--env QT_X11_NO_MITSHM=1 \
+	--name lbr_stack_container \
+	lbr_stack_container
+

lbr_humble_docker/container_new_console.sh

@@ -0,0 +1,2 @@
+# dont forget to chmod +x container_new_console.sh 
+docker exec -it lbr_stack_container bash

lbr_humble_docker/container_start.sh

@@ -0,0 +1,5 @@
+# dont forget to chmod +x container_new_console.sh 
+xhost + 
+
+docker start lbr_stack_container -i
+