These are some notes for using docker in general
docker build -t <image_name> .you should be in the directory where the “Dockerfile” is located then you can use the dot “.”
- to run Docker image
docker run -it --user ros- run another terminal:
docker exec -it <image_tag> /bin/bash- to quite the container: CTRL + D
- add graphic access:
xhost +
xhost +local
xhost +<user_name>docker run -it --user ros --network=host --ipc=host \
-v /tmp/.X11-unix:/tmp/.X11-unix:rw --env=DISPLAY <image_name>- for joystick input:
-v /dev/input:/dev/input -- device-cgroup-rule='c 13:* rmw'- for camera:
-v /dev/bus/usb:/dev/bus/usb -- device-cgroup-rule='c 189:* rmw'- to communicate with serial port like raspberry pi or arduino:
you have to add the user in the dialout group in the dockerfile.
RUN usermod -aG dialout ${USERNAME}
--device=/dev/ttyACM1
or
-v /dev:/dev -- device-cgroup-rule='c 166:* rmw' - you can solve all the input devices with
-v /dev:/dev -- device-cgroup-rule='c *:* rmw' docker run -it --user ros --network=host --ipc=host \
-v /tmp/.X11-unix:/tmp/.X11-unix:rw --env=DISPLAY \
-v /home/mustafa/ros2_ws:/ros2_ws \
-v /dev:/dev --device-cgroup-rule='c *:* rmw' ros-humbleFROM osrf/ros:humble-desktop-full
# Example of installing programs
RUN apt-get update \
&& apt-get install -y \
nano \
vim \
&& rm -rf /var/lib/apt/lists/*
# Example of copying a file
COPY config/ /site_config/
# Create a non-root user
ARG USERNAME=ros
ARG USER_UID=1000
ARG USER_GID=$USER_UID
RUN groupadd --gid $USER_GID $USERNAME \
&& useradd -s /bin/bash --uid $USER_UID --gid $USER_GID -m $USERNAME \
&& mkdir /home/$USERNAME/.config && chown $USER_UID:$USER_GID /home/$USERNAME/.config
# Set up sudo
RUN apt-get update \
&& apt-get install -y sudo \
&& echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME\
&& chmod 0440 /etc/sudoers.d/$USERNAME \
&& rm -rf /var/lib/apt/lists/*
# Copy the entrypoint and bashrc scripts so we have
# our container's environment set up correctly
COPY entrypoint.sh /entrypoint.sh
COPY bashrc /home/${USERNAME}/.bashrc
# Set up entrypoint and default command
ENTRYPOINT ["/bin/bash", "/entrypoint.sh"]
CMD ["bash"]
- different args:
- if you have problems with graphics:
- if you have a problem with language or time zone:
- problem with autocomplete:
apt-get install -y \
bash-completion \
python3-argcomplete \to install docker:
Install using the convenience script, then:
sudo groupadd docker
sudo usermod -aG docker $USER
systemctl is-enabled dockerthen log out
Source: Articulated Robotics