dockwater

Docker images used across multiple repositories supporting simulation of water-related robotics

Distributions

This repository supports baseline images for running Gazebo on the following ROS distributions:

• Jazzy (Ubuntu 24.04 Noble Numbat / ROS 2 Jazzy Jalisco / Gazebo Harmonic)
• Humble (Ubuntu 22.04 Jammy Jellyfish / ROS 2 Humble Hawksbill / Gazebo Garden)
• Galactic (Ubuntu 20.04 Focal Fossa / ROS 2 Galactic Geochelone / Ignition Fortress)
• Noetic (Ubuntu 20.04 Focal Fossa / ROS Noetic Ninjemys / Gazebo 11)
• Melodic (Ubuntu 18.04 Bionic Beaver / ROS Melodic Morenia / Gazebo 9)
• Kinetic (Ubuntu 18.04 Xenial Xerus / ROS Kinetic Kame / Gazebo 7)

Dockerhub

The latest images corresponding to each of the three distributions above are stored in the npslearninglab/watery_robots repository on Dockerhub.

Build Instructions

Build the base image with the build.bash script.

DIST=(jazzy | humble | galactic | noetic | melodic | kinetic)
./build.bash ${DIST}

Run the image locally using the run.bash script:

./run.bash ${DIST}:latest

Build for CI

To build an image for use in continuous integration pipelines, we need to use a slightly different rocker command from the one that's called in the run.bash script. The reason is to avoid pulling in local user information or mounting the local home directory.

rocker --dev-helpers --nvidia --user --user-override-name=developer ${image_name}

Note: The --user-override-name option is currently only available in the latest build (following the rocker Development installation instructions).

Tag and push

The image resulting from the rocker command will be unnamed. To push to a repository, look up the ID with docker image ls and apply the appropriate tag:

docker tag <ID> <repository_namespace>/<repository>:<tag>
docker push <repository_namespace>/<repository>:<tag>