一 、安装docker
curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo apt-key add -
sudo apt-key fingerprint 0EBFCD88
sudo add-apt-repository "deb [arch=amd64] https://download.docker.com/linux/ubuntu $(lsb_release -cs) stable"
sudo apt-get update
sudo apt-get install docker-ce docker.io
systemctl daemon-reload
systemctl restart docker
-
测试: docker pull hello-world
docker run hello-world
二、制作bionic+ros2 docker
1. 下载img
docker pull osrf/ros2:devel
2. 进入docker
docker run -it --rm --volume=/tmp/.X11-unix:/tmp/.X11-unix:rw --volume=/home/weilin/.Xauthority:/home/weilin/.Xauthority:rw --volume=/home/weilin/shared_dir:/home/autoware/shared_dir:rw --env=XAUTHORITY=/home/weilin/.Xauthority --env=DISPLAY=:0 --env=USER_ID=1000 --privileged --net=host osrf/ros2:devel '/bin/bash'
3. 安装一些依赖
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
sudo sh -c 'echo "deb [arch=amd64,arm64] http://packages.ros.org/ros2/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list'
sudo apt update
sudo apt install ros-dashing-desktop
4. 打包镜像
docker commit -a "Lin" -m "bionic_ros2" 80955a78f696 bionic_ros2:v0
5. 保存镜像:
docker image save bionic_ros2:v0 -o bionic_ros2.tar
三、使用bionic+ros2 docker
1. docker load -i bionic_ros2.tar
2. docker run -it autocore_base:v0 '/bin/bash' (参数根据需要自己添加)
四、使用bionic+ros2+nv docker
http://wiki.ros.org/docker/Tutorials/Hardware%20Acceleration#Intel
https://github.com/nvidia/nvidia-docker/wiki/Installation-(version-2.0)
sudo apt-get install nvidia-docker2
sudo pkill -SIGHUP dockerd
Dockerfilegen 中FROM osrf/ros:需要更改一下,其他同步骤二