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Cionix90Cionix90
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pass to docker compose with internal network for simulation
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‎Dockerfile ‎DockerFiles/Dockerfile

File renamed without changes.

‎build.bash ‎DockerFiles/build.bash

File renamed without changes.

‎run.bash ‎DockerFiles/run.bash

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touch $XAUTH
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xauth nlist $DISPLAY | sed -e 's/^..../ffff/' | xauth -f $XAUTH nmerge -
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fi
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xhost +
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echo $XAUTH
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# xhost +
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docker run \
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--net=host \

‎Dockerfile_1

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ARG BASE_IMAGE=osrf/ros
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ARG BASE_TAG= jazzy-desktop-full
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FROM ${BASE_IMAGE}:${BASE_TAG}
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# set the environment variable with the command ENV <key>=<value>, it can be replaced online
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ENV DEBIAN_FRONTEND=noninteractive
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ENV GZ_VERSION=harmonic
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## arg ros2 distro
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ARG DISTRO=humble
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# RUN is used to execute and add new layer on top of the base immage
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RUN apt-get update
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RUN apt-get install -y ros-${DISTRO}-plotjuggler
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RUN apt-get install -y ros-${DISTRO}-ros-gz
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RUN apt-get install -y \
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ros-${DISTRO}-joint-state-publisher \
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ros-${DISTRO}-joint-state-publisher-gui \
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ros-${DISTRO}-gz-ros2-control \
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ros-${DISTRO}-teleop-twist-joy \
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ros-${DISTRO}-joy \
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ros-${DISTRO}-pinocchio \
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ros-${DISTRO}-ros2-control \
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ros-${DISTRO}-ros2-controllers \
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ros-${DISTRO}-xacro \
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ros-${DISTRO}-rosbag2-storage-mcap \
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ros-${DISTRO}-plotjuggler-ros \
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pipx \
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chrony \
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tmux python3-pip\
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xterm \
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libeigen3-dev \
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nano \
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ros-${DISTRO}-rviz2 \
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nautilus \
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iputils-ping \
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iproute2 \
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python3-rosdep \
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&& apt-get clean
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RUN apt-get install -y \
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ros-${DISTRO}-rmw-cyclonedds-cpp \
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&& apt-get clean
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RUN apt-get install -y curl lsb-release gnupg
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RUN curl https://packages.osrfoundation.org/gazebo.gpg --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
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RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
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RUN echo " CURL DONE"
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RUN sudo apt-get update
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RUN sudo apt-get install -y gz-harmonic
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RUN echo "Ignition Installed"
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# install
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# Adapt your desired python version here
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# ENV PATH=/opt/openrobots/bin:$PATH
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# ENV PKG_CONFIG_PATH=/opt/openrobots/lib/pkgconfig:$PKG_CONFIG_PATH
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# ENV LD_LIBRARY_PATH=/opt/openrobots/lib:$LD_LIBRARY_PATH
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# ENV PYTHONPATH=/opt/openrobots/lib/python3.10/site-packages:$PYTHONPATH
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# ENV CMAKE_PREFIX_PATH=/opt/openrobots:$CMAKE_PREFIX_PATH
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# ENV TERM=xterm-256color
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ENV DEBIAN_FRONTEND=dialog
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# Create a new user
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ARG USERNAME=ros
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ARG USER_UID=1000
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ARG USER_GID=${USER_UID}
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RUN if id -u ${USER_UID} ; then userdel `id -un ${USER_UID}` ; fi
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RUN groupadd --gid ${USER_GID} ${USERNAME}
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RUN useradd --uid ${USER_UID} --gid ${USER_GID} -m ${USERNAME} \
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&& apt-get update \
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&& apt-get install -y sudo \
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&& echo ${USERNAME} ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/${USERNAME} \
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&& chmod 0440 /etc/sudoers.d/${USERNAME}
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#Change HOME environment variable
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ENV HOME=/home/${USERNAME}
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# Choose to run as user
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ENV USER=${USERNAME}
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USER ${USERNAME}
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# ********************************************************
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# * Anything else you want to do like clean up goes here *
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# ********************************************************
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# Install the python packages cosi non vengono installati da root
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RUN pipx install numpy
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# install gazebo ignition
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# RUN sudo apt-get install -y curl lsb-release gnupg
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# RUN sudo curl https://packages.osrfoundation.org/gazebo.gpg --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpgecho "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
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# RUN echo " CURL DONE"
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# Set up auto-source of workspace for ros user
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ARG WORKSPACE=docker_navigation
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WORKDIR /home/ros/${WORKSPACE}
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RUN echo "source /opt/ros/${DISTRO}/setup.bash" >> ~/.bashrc
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RUN echo "if [ -f ~/${WORKSPACE}/install/setup.bash ]; then source ~/${WORKSPACE}/install/setup.bash; fi" >> /home/ros/.bashrc
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RUN echo "export GZ_SIM_SYSTEM_PLUGIN_PATH=/opt/ros/humble/lib/" >> ~/.bashrc
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RUN sudo ln -s /usr/include/eigen3/Eigen /usr/include/Eigen
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# install gazebo ignition
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ENTRYPOINT ["/ros_entrypoint.sh"]
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# RUN echo "source /opt/ros/jazzy/setup.bash" >> ~/.bashrc
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# RUN echo "source /home/ros/ros2_ws/install/setup.bash 2>/dev/null || true" >> ~/.bashrc

‎compose.yaml

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services:
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ros2_shell:
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build:
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dockerfile: Dockerfile_1
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context: .
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container_name: ros2_jammy_it
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networks:
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- ros2_internal
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# Interactive shell settings
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stdin_open: true
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tty: true
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# Network settings
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# Environment variables
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environment:
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- DISPLAY=${DISPLAY}
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- QT_X11_NO_MITSHM=1
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- XAUTHORITY=/tmp/.docker.xauth
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- ROS_DOMAIN_ID=0
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- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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# Shell history
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- HISTFILE=/home/ros/.bash_history
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- HISTFILESIZE=10000
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- RCUTILS_COLORIZED_OUTPUT=1
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privileged: true # Fixed spelling and removed duplicate
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volumes:
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- /tmp/.X11-unix:/tmp/.X11-unix:rw
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- /tmp/.docker.xauth:/tmp/.docker.xauth:rw
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- ~/.bash_history:/home/ros/.bash_history
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- /home/punk-opc/Documents/docker_navigation:/home/ros/docker_simulation_ws
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- /dev/input:/dev/input
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# Command to source ROS2 environment and start shell
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command: >
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bash -c "
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source /opt/ros/jazzy/setup.bash &&
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echo 'ROS2 Jazzy environment loaded' &&
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bash
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"
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devices:
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- /dev/dri:/dev/dri
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# ros2_joy:
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# build:
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# dockerfile: Dockerfile_1
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# context: .
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# container_name: ros2_jammy_joy
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# networks:
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# - ros2_internal
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# # Interactive shell settings
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# stdin_open: true
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# tty: true
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# # Network settings
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# # Environment variables
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# environment:
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# - DISPLAY=${DISPLAY}
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# - QT_X11_NO_MITSHM=1
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# - XAUTHORITY=/tmp/.docker.xauth
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# - ROS_DOMAIN_ID=0
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# - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
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# # Shell history
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# - HISTFILE=/home/ros/.bash_history
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# - HISTFILESIZE=10000
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# - RCUTILS_COLORIZED_OUTPUT=1
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# privileged: true # Fixed spelling and removed duplicate
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# volumes:
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# - /tmp/.X11-unix:/tmp/.X11-unix:rw
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# - /tmp/.docker.xauth:/tmp/.docker.xauth:rw
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# - ~/.bash_history:/home/ros/.bash_history
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# - /home/punk-opc/Documents/docker_navigation:/home/ros/docker_simulation_ws
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# - /dev/input:/dev/input
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# # Command to source ROS2 environment and start shell
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# command: >
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# bash -c "
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# source /opt/ros/jazzy/setup.bash &&
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# echo 'ROS2 Jazzy environment loaded' &&
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# bash
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# "
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# devices:
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# - /dev/dri:/dev/dri
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networks:
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ros2_internal:
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driver: bridge
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‎compose_build.bash

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#!/bin/bash
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# ================================= Edit Here ================================ #
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DISTRO=jazzy
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# Change these values to use different versions of ROS or different base images. The rest of the script should be left unchanged.
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BASE_IMAGE=osrf/ros
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BASE_TAG=$DISTRO-desktop-full
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IMAGE_NAME=docker_control_simulation
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IMAGE_TAG=0.1
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USERNAME=ros
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USER_UID="$(id -u $USER)"
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USER_GID="$(id -g $USER)"
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WORKSPACE=docker_simulation_ws
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# =============================== Help Function ============================== #
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helpFunction()
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{
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echo ""
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echo -e "\t-h --help Script used to build the image."
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exit 1 # Exit script after printing help
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}
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# =============================== BUILD ============================== #
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# Auxiliary functions
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die() { echo "$*" >&2; exit 2; } # complain to STDERR and exit with error
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needs_arg() { if [ -z "$OPTARG" ]; then die "No arg for --$OPT option"; fi; }
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no_arg() { if [ -n "$OPTARG" ]; then die "No arg allowed for --$OPT option"; fi; }
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# Get the script options. This accepts both single dash (e.g. -a) and double dash options (e.g. --all)
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while getopts h-: OPT; do
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# support long options: https://stackoverflow.com/a/28466267/519360
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if [ "$OPT" = "-" ]; then # long option: reformulate OPT and OPTARG
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OPT="${OPTARG%%=*}" # extract long option name
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OPTARG="${OPTARG#$OPT}" # extract long option argument (may be empty)
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OPTARG="${OPTARG#=}" # if long option argument, remove assigning `=`
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fi
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case "$OPT" in
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h | help ) no_arg; helpFunction ;;
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esac
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done
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docker compose build \
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--build-arg BASE_IMAGE=$BASE_IMAGE \
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--build-arg BASE_TAG=$BASE_TAG \
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--build-arg IMAGE_NAME=$IMAGE_NAME \
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--build-arg IMAGE_TAG=$IMAGE_TAG \
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--build-arg USERNAME=$USERNAME \
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--build-arg USER_UID=$USER_UID \
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--build-arg USER_GID=$USER_GID \
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--build-arg WORKSPACE=$WORKSPACE \
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--build-arg DISTRO=$DISTRO

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