[Docker] ros2 humble - MACH-CAU/UAM GitHub Wiki

https://hub.docker.com/_/ros/tags?name=humble

https://docs.ros.org/en/humble/How-To-Guides/Run-2-nodes-in-single-or-separate-docker-containers.html#running-ros-2-nodes-in-docker-community-contributed

공식 Docs에서 명령어가 다름

osrf/ros:humble-desktop여기는 arm버전이 없음 이러면 그냥 amd버전으로 가야할듯

docker display 연결

xhost +local:root

docker run -it \
    --rm \
    --net=host \
    --env="DISPLAY" \
    --env="QT_X11_NO_MITSHM=1" \
    --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
    ros:humble

근데 ros:humble은 gazebo가 없네? 이런... 그러면 osrf로 가야할듯

docker run -it                                  \
    --rm                                        \
    --platform linux/amd64                      \
    --net=host                                  \
    --env="DISPLAY"                             \
    --env="QT_X11_NO_MITSHM=1"                  \
    --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
    osrf/ros:humble-desktop-full  

https://hub.docker.com/_/gazebo/tags

Ubuntu 22.04에 ROS2 humble과 Gazebo 설치 https://hub.docker.com/r/px4io/px4-dev-nuttx-focal

https://github.com/ryomo/ros2-gazebo-docker/blob/main/docker-compose.yml

https://docs.px4.io/main/en/test_and_ci/docker.html#px4_containers https://github.com/PX4/PX4-user_guide/blob/main/ko/test_and_ci/docker.md

https://hub.docker.com/r/px4io/px4-dev-base-jammy 그냥 한방에 가자

# enable access to xhost from the container
xhost +

# Run docker and open bash shell
docker run -it --privileged \
    --rm                                        \
    --network host \
    --platform linux/amd64                      \
    -e DISPLAY=:0 \
    --env=LOCAL_USER_ID="$(id -u)" \
    -v ~/src/PX4-Autopilot:/src/PX4-Autopilot/:rw \
    -v /tmp/.X11-unix:/tmp/.X11-unix:ro \
    --name=px4-ros px4io/px4-dev-ros2-foxy:2022-07-31 bash