docker

安装Docker:

sudo apt install docker.io
#添加 docker 组
sudo groupadd docker
#用户加入 docker 组（免 sudo 权限）
sudo usermod -aG docker ${USER}

以制作ros2 humble docker 为例子:

Dockerfile:

FROM osrf/ros:humble-desktop

ENV LANG=C.UTF-8 LC_ALL=C.UTF-8 TZ=Asia/Shanghai DEBIAN_FRONTEND=noninteractive
COPY ./aliyun_sources.list_22.04 /etc/apt/
COPY ./timeline_frame.py /home
# COPY ./ros.key /usr/share/keyrings/ros-archive-keyring.gpg

RUN mv /etc/apt/sources.list /etc/apt/sources.list.back && \
    mv /etc/apt/aliyun_sources.list_22.04 /etc/apt/sources.list && \
    mv /home/timeline_frame.py /opt/ros/humble/lib/python3.10/site-packages/rqt_bag/timeline_frame.py && \
    apt-get update && apt-get install -y apt-utils vim wget curl git git-lfs zip unzip zsh ssh \
    openssh-server openssh-client tree tmux libpcap-dev ffmpeg iputils-ping ros-humble-compressed-image-transport \ 
    build-essential g++ make cmake net-tools bash-completion sudo htop rsync gdb python3-pip && \
    apt-get autoclean && rm -rf /var/lib/apt/lists/* && \
    ln -s /usr/lib/x86_64-linux-gnu/libavdevice.so.58 /usr/lib/x86_64-linux-gnu/libavdevice.so 

RUN echo "root:root" | chpasswd && \
    echo "if [ -f /etc/bash_completion ] && ! shopt -oq posix; then" >> /root/.bashrc && \
    echo "    . /etc/bash_completion" >> /root/.bashrc && \
    echo "fi" >> /root/.bashrc && \
    echo "PermitRootLogin yes" >> /etc/ssh/sshd_config && \
    echo "Port 22" >> /etc/ssh/sshd_config && \
    echo "service ssh start > /dev/null 2>&1" >> /root/.bashrc

Makefile:

all:
	@echo nothing special

# DOCKER_BASE := calmcar.com/docker/
DOCKER_NAME := ros2humble
DOCKER_TAG := 1.0
DOCKER_FULL_NAME := $(DOCKER_BASE)$(DOCKER_NAME):$(DOCKER_TAG)
docker_build:
	docker build \
		-t $(DOCKER_FULL_NAME) \
		-f Dockerfile .
	docker images --format "{{.Repository}}:{{.Tag}} -> {{.Size}}" $(DOCKER_FULL_NAME)

upload_artifactory:
	cdt fm upload image $(DOCKER_NAME) $(DOCKER_TAG) 

docker_pull:
	docker pull $(DOCKER_FULL_NAME)
docker_test_base:
	docker run --rm \
		-v `pwd`:`pwd` \
		-w `pwd` \
		-it $(DOCKER_FULL_NAME) zsh

编译:

make docker_build

结果:

$ docker images
REPOSITORY   TAG       IMAGE ID       CREATED       SIZE
ros2humble   1.0       8a37e9b383cf   2 hours ago   3.78GB

转存tar与加载:

docker save -o ros2humble_v1.tar ros2humble:1.0
docker load -i ros2humble_v1.tar

运行docker:

docker便捷启动命令