├── .dockerignore ├── .gitignore ├── .session.yml ├── .tmux.conf ├── Dockerfile ├── LICENSE ├── README.md └── run.sh /.dockerignore: -------------------------------------------------------------------------------- 1 | Dockerfile 2 | .git 3 | *.sh 4 | *.conf 5 | *.yml 6 | -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | .vscode 2 | .idea 3 | -------------------------------------------------------------------------------- /.session.yml: -------------------------------------------------------------------------------- 1 | # Set var "WDIR" to workdir 2 | <% if @args[0] %> 3 | <% WDIR=@args[0] %> 4 | <% else %> 5 | <% WDIR=ENV["PWD"] %> 6 | <% end %> 7 | 8 | name: <%= WDIR.split('/').last %> 9 | root: <%= @args[0] %> 10 | 11 | startup_window: talker 12 | windows: 13 | - talker: 14 | layout: even-vertical 15 | panes: 16 | - print -S 'ros2 run demo_nodes_cpp talker' 17 | - listener: 18 | layout: even-vertical 19 | panes: 20 | - print -S 'ros2 run demo_nodes_cpp listener' 21 | -------------------------------------------------------------------------------- /.tmux.conf: -------------------------------------------------------------------------------- 1 | # Make ZSH a default shell 2 | set -g default-shell "/bin/zsh" 3 | 4 | # Enable mouse 5 | set-option -g mouse on 6 | 7 | # Override prefix to ctrl+a 8 | set-option -g prefix ^a 9 | 10 | # Switch windows with pageup/pagedown keys 11 | unbind NPage 12 | unbind PPage 13 | bind -n PPage previous-window 14 | bind -n NPage next-window 15 | 16 | # Close session with ctrl+a -> x 17 | bind x confirm-before kill-session 18 | -------------------------------------------------------------------------------- /Dockerfile: -------------------------------------------------------------------------------- 1 | FROM osrf/ros:humble-desktop-full 2 | 3 | ARG WORKSPACE=humble_dev_ws 4 | WORKDIR /root/$WORKSPACE 5 | 6 | ENV NVIDIA_VISIBLE_DEVICES \ 7 | ${NVIDIA_VISIBLE_DEVICES:-all} 8 | ENV NVIDIA_DRIVER_CAPABILITIES \ 9 | ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics 10 | ENV QT_X11_NO_MITSHM=1 11 | ENV EDITOR=nano 12 | ENV XDG_RUNTIME_DIR=/tmp 13 | 14 | RUN apt-get update && apt-get install -y \ 15 | cmake \ 16 | curl \ 17 | gazebo \ 18 | libglu1-mesa-dev \ 19 | nano \ 20 | python3-pip \ 21 | python3-pydantic \ 22 | ros-humble-gazebo-ros \ 23 | ros-humble-gazebo-ros-pkgs \ 24 | ros-humble-joint-state-publisher \ 25 | ros-humble-robot-localization \ 26 | ros-humble-plotjuggler-ros \ 27 | ros-humble-robot-state-publisher \ 28 | ros-humble-ros2bag \ 29 | ros-humble-rosbag2-storage-default-plugins \ 30 | ros-humble-rqt-tf-tree \ 31 | ros-humble-rmw-fastrtps-cpp \ 32 | ros-humble-rmw-cyclonedds-cpp \ 33 | ros-humble-slam-toolbox \ 34 | ros-humble-turtlebot3 \ 35 | ros-humble-turtlebot3-msgs \ 36 | ros-humble-twist-mux \ 37 | ros-humble-usb-cam \ 38 | ros-humble-xacro \ 39 | ruby-dev \ 40 | rviz \ 41 | tmux \ 42 | wget \ 43 | xorg-dev \ 44 | zsh 45 | 46 | RUN pip3 install setuptools==58.2.0 47 | 48 | RUN wget https://github.com/openrr/urdf-viz/releases/download/v0.38.2/urdf-viz-x86_64-unknown-linux-gnu.tar.gz && \ 49 | tar -xvzf urdf-viz-x86_64-unknown-linux-gnu.tar.gz -C /usr/local/bin/ && \ 50 | chmod +x /usr/local/bin/urdf-viz && \ 51 | rm -f urdf-viz-x86_64-unknown-linux-gnu.tar.gz 52 | 53 | RUN sh -c "$(wget -O- https://github.com/deluan/zsh-in-docker/releases/download/v1.1.2/zsh-in-docker.sh)" -- \ 54 | -p git \ 55 | -p https://github.com/zsh-users/zsh-autosuggestions \ 56 | -p https://github.com/zsh-users/zsh-completions 57 | 58 | RUN gem install tmuxinator && \ 59 | wget https://raw.githubusercontent.com/tmuxinator/tmuxinator/master/completion/tmuxinator.zsh -O /usr/local/share/zsh/site-functions/_tmuxinator 60 | 61 | RUN apt-get autoremove -y \ 62 | && apt-get clean -y \ 63 | && rm -rf /var/lib/apt/lists/* 64 | 65 | RUN echo "export DISABLE_AUTO_TITLE=true" >> /root/.zshrc 66 | RUN echo 'LC_NUMERIC="en_US.UTF-8"' >> /root/.zshrc 67 | RUN echo "source /opt/ros/humble/setup.zsh" >> /root/.zshrc 68 | RUN echo "source /usr/share/gazebo/setup.sh" >> /root/.zshrc 69 | 70 | RUN echo 'alias rosdi="rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y"' >> /root/.zshrc 71 | RUN echo 'alias cbuild="colcon build --symlink-install"' >> /root/.zshrc 72 | RUN echo 'alias ssetup="source ./install/local_setup.zsh"' >> /root/.zshrc 73 | RUN echo 'alias cyclone="export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp"' >> /root/.zshrc 74 | RUN echo 'alias fastdds="export RMW_IMPLEMENTATION=rmw_fastrtps_cpp"' >> /root/.zshrc 75 | RUN echo 'export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp' >> /root/.zshrc 76 | 77 | RUN echo "autoload -U bashcompinit" >> /root/.zshrc 78 | RUN echo "bashcompinit" >> /root/.zshrc 79 | RUN echo 'eval "$(register-python-argcomplete3 ros2)"' >> /root/.zshrc 80 | RUN echo 'eval "$(register-python-argcomplete3 colcon)"' >> /root/.zshrc 81 | 82 | CMD [ "tmuxinator", "start", "-p", "/root/.session.yml" ] 83 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | Apache License 2 | Version 2.0, January 2004 3 | http://www.apache.org/licenses/ 4 | 5 | TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION 6 | 7 | 1. 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We also recommend that a 185 | file or class name and description of purpose be included on the 186 | same "printed page" as the copyright notice for easier 187 | identification within third-party archives. 188 | 189 | Copyright [yyyy] [name of copyright owner] 190 | 191 | Licensed under the Apache License, Version 2.0 (the "License"); 192 | you may not use this file except in compliance with the License. 193 | You may obtain a copy of the License at 194 | 195 | http://www.apache.org/licenses/LICENSE-2.0 196 | 197 | Unless required by applicable law or agreed to in writing, software 198 | distributed under the License is distributed on an "AS IS" BASIS, 199 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 200 | See the License for the specific language governing permissions and 201 | limitations under the License. 202 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | ## ROS2 Humble - docker dev template 2 | 3 | This repo provides a template for a quick start with a ROS2 Humble development in Docker. 4 | 5 |
6 | 7 | ### Setup 8 | 9 | ```shell 10 | git clone https://github.com/sskorol/ros2-humble-docker-dev-template.git && cd ros2-humble-docker-dev-template 11 | ./run.sh -h 12 | ``` 13 | 14 | ![Help](https://user-images.githubusercontent.com/6638780/188268405-82f77eb3-1308-46ba-b6ba-1ef3f956f0af.png) 15 | 16 | ### Building 17 | 18 | ```shell 19 | ./run.sh -w dev_ws -i [YOUR_IMAGE_NAME:TAG] -b 20 | ``` 21 | 22 | ### Running 23 | 24 | - Update `.tmux.conf` if you need to enable additional `tmux` features 25 | - Update `.session.yml` to customize Tmuxinator UI 26 | 27 | Note that the above configs are mapped as volumes to docker image. 28 | 29 | ```shell 30 | ./run.sh -w dev_ws -i [YOUR_IMAGE_NAME:TAG] -r 31 | ``` 32 | 33 | ### Development 34 | 35 | - Follow [this guide](https://code.visualstudio.com/docs/remote/containers) to prepare VSCode for remote development in a container. 36 | - Start the docker container via the command from the [Running](#running) section. 37 | - Open VSCode and [attach](https://code.visualstudio.com/docs/remote/attach-container) to the running container. 38 | - Open your ROS2 workspace and enjoy. 39 | 40 | ### Notes 41 | 42 | - Mouse is enabled by default 43 | - Use pageup/pagedown keys to switch between `tmux` windows (mouse click also works) 44 | - Press shift key to select the text via mouse 45 | - `tmux` ctrl+b prefix is remapped to ctrl+a 46 | - ctrl+a -> x -> y series closes the `tmux` and docker session 47 | -------------------------------------------------------------------------------- /run.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | help() 4 | { 5 | echo "" 6 | echo "Usage: $0 -w dev_ws -t sskorol/ros2-humble-dev -b" 7 | echo -e "\t-w Workspace folder name (relative to $HOME on host and /root in docker)" 8 | echo -e "\t-i Image to build/run" 9 | echo -e "\t-b Build mode" 10 | echo -e "\t-r Run mode" 11 | echo -e "\t-h Show help" 12 | exit 1 13 | } 14 | 15 | while getopts "w:i:hbr" opt 16 | do 17 | case "$opt" in 18 | w) workspace="$OPTARG" ;; 19 | i) image="$OPTARG" ;; 20 | b) should_build=true ;; 21 | r) should_run=true ;; 22 | h | ?) help ;; 23 | esac 24 | done 25 | 26 | if [[ -z "$workspace" ]]; then 27 | echo "Workspace folder is mandatory" 28 | help 29 | fi 30 | 31 | if [[ -z "$image" ]]; then 32 | echo "Image is mandatory" 33 | help 34 | fi 35 | 36 | if [[ -z "$should_build" ]]; then 37 | should_build=false 38 | fi 39 | 40 | if [[ -z "$should_run" ]]; then 41 | should_run=false 42 | fi 43 | 44 | if [[ "$should_build" == false && "$should_run" == false ]] || [[ "$should_build" == true && "$should_run" == true ]]; then 45 | echo "You must specify either a build(-b) or run(-r) mode" 46 | help 47 | elif [[ "$should_run" == true ]]; then 48 | mkdir -p $HOME/$workspace 49 | xhost +local:docker 50 | docker run -it \ 51 | --rm \ 52 | --net=host \ 53 | --privileged \ 54 | --gpus=all \ 55 | -e DISPLAY=$DISPLAY \ 56 | -e PYTHONBUFFERED=1 \ 57 | -v /etc/timezone:/etc/timezone:ro \ 58 | -v /etc/localtime:/etc/localtime:ro \ 59 | -v $HOME/$workspace:/root/$workspace:rw \ 60 | -v /tmp/.X11-unix:/tmp/.X11-unix:rw \ 61 | -v $HOME/.Xauthority:/root/.Xauthority:ro \ 62 | -v $PWD/.session.yml:/root/.session.yml \ 63 | -v $PWD/.tmux.conf:/root/.tmux.conf \ 64 | --device=/dev/bus/usb:/dev/bus/usb \ 65 | $image 66 | elif [[ "$should_build" == true ]]; then 67 | docker build --build-arg WORKSPACE=$workspace -t $image . 68 | fi 69 | --------------------------------------------------------------------------------