Detailed steps for installing ros2 in docker

Main topic

Let's talk about today's topic docker and ros2. This article will solve three problems:

How to install docker on ubuntuHow to install ros2 in dockerHow to visualize the turtle in docker

1. Install Docker on Ubuntu

This is very simple, it can be done in one sentence

sudo apt install docker.io

2. Install ROS2-Foxy in Docker

Installation is not really a big deal. Here we directly pull the official image of ROS2

sudo docker pull osrf/ros:foxy-desktop

After the pull is complete, use the following command to enter the installed image

sudo docker run -it osrf/ros:foxy-desktop

Then enter ros2 in the terminal

At this point, we have completed running the ros2 image in docker. Isn’t it very fast? It is also completely isolated from your computer. One line of instruction can generate multiple images, and even rosdep is init and updated.

3. ROS2 docker visual running turtle

Install and start the mobaxterm remote tool

Make sure you are in the same LAN as the computer where you installed Docker.

Note the display here. Then we set the value of the DISPLAY environment variable of the ros2 image in docker.

export DISPLAY=192.168.0.112:0.0

Then you can start the little turtle simulator and see

ros2 run turtlesim turtlesim_node

Then you will find a magical scene, a little turtle interface pops up on your Windows computer

Then run the keyboard control node

ros2 run turtlesim turtle_teleop_key

Press the button and the little turtle will run.

at last

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