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Docker-ROS2

What is this?

  • A Docker container for ROS2 and Gazebo.
  • GUI is enabled if WSLg is installed.

Prerequisites

  • docker, docker-compose
  • (Optional) WSLg

Getting started

git clone {this-repository}
cd {this-repository}
docker compose build
docker compose up -d
docker compose exec ros2 bash
  • If your user id is not 1000, add --build-arg user_id=$(id -u) to docker compose build command.

ROS2

From Introducing turtlesim and rqt — ROS 2 Documentation: Galactic documentation

ros2 run turtlesim turtlesim_node

Gazebo

From Testing Gazebo and ROS 2 integration | Gazebo : Tutorial

gazebo --verbose /opt/ros/galactic/share/gazebo_plugins/worlds/gazebo_ros_diff_drive_demo.world

Open another terminal

ros2 topic pub /demo/cmd_demo geometry_msgs/Twist '{linear: {x: 1.0}, angular: {z: 1.0}}' -1

Set up your workspace

You may better to follow this steps to set up your workspace. Creating a workspace — ROS 2 Documentation: Galactic documentation

Other commands

docker-compose

docker compose stop
docker compose down
docker compose exec --user root ros2 bash