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README_docker.md

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Instructions to bringup the docker environment(ROS 2 dashing with gazebo-11)

  • Tested on docker version 20.10.7
  • Requires docker compose v1.28.0 or higher

Install the following packages if you have a dedicated nvidia graphics card

  • Add the GPG key:

    distribution=$(. /etc/os-release;echo $ID$VERSION_ID) \
&& curl -s -L https://nvidia.github.io/nvidia-docker/gpgkey | sudo apt-	key add - \
&& curl -s -L https://nvidia.github.io/nvidia-docker/$distribution/nvidia-docker.list | sudo tee /etc/apt/sources.list.d/nvidia-docker.list

  • Install the nvidia-docker2 package

     sudo apt-get update

     sudo apt-get install -y nvidia-docker2

  • Restart the Docker daemon

    sudo systemctl restart docker

Instructions to build the image and run the container

  • Place the Dockerfile, the docker-compose.yml file and the docker-compose_gpu.yml file inside ~/your_workspace/. NOTE: Your entire src/ folder will be mounted as a volume in the container.

  • To build the image (changed the filename to docker-compose.yml if your system doesn't have an nvidia gpu):

     docker-compose -f docker-compose_gpu.yml build

    NOTE: This step might be time consuming.

  • To run the container:

     cd  ~/your_workspace/

     docker-compose -f docker-compose_gpu.yml up -d

    Wait for the docker containers to run. In another terminal

     docker-compose exec app /bin/bash