Singularity容器笔记(一)创建Ubuntu16.04容器并安装ROS(kinetic)
申明:自用
本机系统:Ubuntu20.04.1(官方下载链接)
Singularity版本:3.9.2
1. 安装 Singularity
下面链接无障碍安装:
https://sylabs.io/guides/3.9/user-guide/quick_start.html
2. 步骤
(1)创建Ubuntu16.04容器
(2)编写def文件
(3)进入容器
(4)安装ROS(kinetic)
3. 编写def文件
在你想防止容器的文件夹下创建一个“.def”文件(ubuntu16.def)并复制下列内容:
Bootstrap: docker
From: ubuntu:16.04
%post
apt-get -y update
apt-get -y upgrade
apt-get -y install lsb-release gnupg2
apt-get install sudo
%environment
4. 创建Ubuntu16.04容器
sudo singularity build --sandbox ubuntu16.04(name_of_sandbox) ubuntu16.def
5. 进入容器
sudo singularity shell --writable ubuntu16.04(name_of_sandbox)
6. 安装ROS(kinetic)
按照下面链接安装(我会再写一遍):
http://wiki.ros.org/kinetic/Installation/Ubuntu
Singularitu> sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
Singularitu> sudo apt install curl
Singularitu> curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
Singularitu> sudo apt-get update
Singularitu> sudo apt-get install ros-kinetic-desktop-full
Singularitu> source /opt/ros/kinetic/setup.bash
安装成功!