docker作为一种开源的应用容器引擎,基于Go 语言并遵从 Apache2.0 协议开源。之前网上存在一些使用docker去安装ros的相关教程。但是目前网上的教程都无法装载GAZEBO RVIZ等常用的一些软件。
在做纯编译开发时,我们不需要对CPP/Python代码进行编译,这时候能够一键安装环境的Docker就显得十分有必要,这样的方式不会考虑环境配置的差异,而且能够快速的搭建好环境。
创建python文件来运行程序
build
import argparse
import docker_utils as ut
import os
def main():
# Parse arguments
parser = argparse.ArgumentParser()
parser.add_argument('-g', '--gazebo', dest="gazebo_version", default="9")
parser.add_argument('-r1', '--ros1', dest="ros1_version", default="melodic")
parser.add_argument('-r2', '--ros2', dest="ros2_version", default="")
args = parser.parse_args()
gz_version_tag = '9'
# If ROS 2 is not defined, ROS 1 is compiled
if args.ros2_version == "":
# Compile ROS 1
ros_version_name = 'ros1'
ros_version_tag = args.ros1_version
gz_version_tag = args.gazebo_version
else:
# Compile ROS 2
ros_version_name = 'ros2'
ros_version_tag = args.ros2_version
if not (args.gazebo_version == "9"):
print("Gazebo 9 is only supported. Using this version by default.")
# Select image to compile
image_name = '{}'.format(ros_version_name)
# Build selected image
command = 'cd {} && ROS_VERSION={} GZ_VERSION={} make {}'.format(
ut.get_repo_root(), ros_version_tag, gz_version_tag, image_name)
ut.run_command(command)
if __name__ == '__main__':
main()
该文件是我们启动安装的入口,在输入./build后则执行到安装ros的指令中。
ros1/Dockfile
FROM ubuntu_18
ARG ros1
ENV ROS1_DISTRO ${ros1}
ARG gz
ENV GZ_VERSION ${gz}
ENV USER docker_ros
USER root
# Setup environment
RUN apt-get update && apt-get install -y locales
RUN locale-gen en_US.UTF-8
ENV \
LANG=en_US.UTF-8 \
DEBIAN_FRONTEND=noninteractive \
TERM=xterm
RUN apt-get remove -y --purge xserver-xorg
RUN apt-get update && \
apt-get install --no-install-recommends -y \
gnupg2 \
mesa-utils \
sudo \
tmux \
wget \
xserver-xorg
RUN dpkg-reconfigure xserver-xorg
# Add ROS keys
# https://discourse.ros.org/t/new-gpg-keys-deployed-for-packages-ros-org/9454
RUN echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list
RUN apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
# Add Gazebo keys
RUN echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" > /etc/apt/sources.list.d/gazebo-stable.list
RUN wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
# Install bootstrap tools
RUN apt-get update && apt-get install --no-install-recommends -y \
python-rosdep \
python-rosinstall
# Install ROS packages
RUN apt-get update && \
apt-get install -y \
ros-${ROS1_DISTRO}-desktop
RUN apt-get update && \
apt-get install -y \
gazebo${GZ_VERSION} \
libgazebo${GZ_VERSION}-dev
# Install dependencies
# https://unix.stackexchange.com/a/391112
COPY packages.txt packages.txt
RUN apt-get update && \
xargs -a packages.txt apt-get install -y
# ==================
RUN rosdep init
USER $USER
RUN echo ". /opt/ros/${ROS1_DISTRO}/setup.bash" >> /home/${USER}/.bashrc
RUN rosdep update
USER root
# Workspace
RUN mkdir -p /catkin_ws/src/ && \
chown -R $USER /catkin_ws
WORKDIR /catkin_ws/
RUN usermod -a -G video $USER
RUN usermod -a -G dialout $USER
RUN apt-get update
USER $USER
该文件主要是Docker安装的指令合集,通过build文件传入基础的ros版本以及gazebo版本来方便动态安装管理。
ros1/packages.txt
libspdlog-dev
libjsoncpp-dev
libeigen3-dev
libzmq3-dev
libusb-1.0.0-dev
mesa-common-dev
build-essential
libgl1-mesa-dev
libpqxx-dev
ros-*-amcl
ros-*-base-local-planner
ros-*-costmap-2d
ros-*-depth-image-proc
ros-*-depthimage-to-laserscan
ros-*-dynamixel-workbench-toolbox
ros-*-four-wheel-steering-msgs
ros-*-gazebo-plugins
ros-*-gazebo-ros-control
ros-*-gazebo-ros-pkgs
ros-*-geographic-msgs
ros-*-gmapping
ros-*-hector-gazebo-plugins
ros-*-image-proc
ros-*-joint-state-publisher-gui
ros-*-joy
ros-*-map-server
ros-*-mavros-msgs
ros-*-move-base
ros-*-moveit
ros-*-moveit-commander
ros-*-moveit-python
ros-*-moveit-visual-tools
ros-*-navfn
ros-*-open-manipulator-msgs
ros-*-pcl-ros
ros-*-pluginlib
ros-*-rgbd-launch
ros-*-robot-calibration
ros-*-robot-controllers
ros-*-robot-localization
ros-*-ros-control
ros-*-ros-controllers
ros-*-rosparam-shortcuts
ros-*-rosserial-python
ros-*-rotate-recovery
ros-*-serial
ros-*-slam-karto
ros-*-teb-local-planner
ros-*-teleop-twist-keyboard
ros-*-tf2-geometry-msgs
ros-*-twist-mux
ros-*-urdf-geometry-parser
ros-*-voxel-grid
这个package包中包含了待安装的函数库包。
ros2/Dockerfile
FROM ubuntu_18
ARG ros2
ENV ROS2_DISTRO ${ros2}
ARG gz
ENV GZ_VERSION ${gz}
ENV USER docker_ros
USER root
# Tmux
RUN apt-get update && \
apt-get install --no-install-recommends -y \
curl \
gnupg2 \
lsb-release \
sudo \
tmux
# setup keys
RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
RUN curl http://repo.ros2.org/repos.key | apt-key add -
# setup sources.list
RUN echo "deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main" > /etc/apt/sources.list.d/ros-latest.list
RUN echo "deb [arch=amd64,arm64] http://packages.ros.org/ros2/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/ros2-latest.list
# install ros2 packages
RUN apt-get update && \
apt-get install -y \
ros-$ROS2_DISTRO-desktop
# install bootstrap tools
RUN apt-get update && apt-get install --no-install-recommends -y \
ros-$ROS2_DISTRO-gazebo-*
# install ros2 packages
RUN apt-get update && apt-get install -y \
ros-$ROS2_DISTRO-ros1-bridge \
python3-argcomplete \
python3-colcon-common-extensions
# Source ros2 automatically
RUN echo ". /opt/ros/$ROS2_DISTRO/setup.bash" >> /home/${USER}/.bashrc
# ==================
# Workspace
RUN mkdir -p /colcon_ws/src/ && \
chown -R $USER /colcon_ws
RUN rosdep init
USER $USER
WORKDIR /colcon_ws/
RUN rosdep update
USER root
RUN apt-get update
USER $USER
这部分是ROS2的Docker安装指令。
docker_utils.py
import os
import subprocess
from subprocess import PIPE
def run_command(command):
subprocess.call(command, shell=True)
def get_repo_root():
return subprocess.check_output('git rev-parse --show-toplevel'.split()).strip()
def get_uid():
return os.getuid()
def get_user():
return os.getlogin()
def create_directory(directory):
run_command("mkdir -p {}".format(directory))
run_command("sudo chown {0}:{0} {1}".format(get_user(), directory))
可选择的执行策略
[-r1|—ros1]: 默认选择ROS1的 版本(melodic)。
[-r2|—ros2]: 选择ROS2的版本
[-g|—gazebo]: 选择ROS中Gazebo版本。(目前ROS2只支持Gazebo 9 的版本)
ROS 1 Melodic + Gazebo 11
./build --gazebo 11
ROS 2 Eloquent + Gazebo 9
./build --ros2 eloquent
此时,我们的基于docker的ROS环境已经安装完毕,在同一路径下我们创建一个run文件来启动docker容器
运行环境
run
#!/usr/bin/env python2.7
import argparse
import subprocess
import docker_utils as ut
import os
IMAGE_NAME = "gazebo_ros_docker"
def run_dev_environment(command, ws_mount, ros1="melodic", ros2=""):
user = ut.get_user()
docker_args = []
dockerfile = '{}'.format('ros1' if ros2 == '' else 'ros2')
temp_volume = "/home/{}/.{}".format(user, IMAGE_NAME)
# Workspace name
ws_name = "{}_ws".format("catkin" if ros2 == "" else "colcon")
docker_args.append("-it")
docker_args.append("--rm")
docker_args.append("--env=\"DISPLAY\"")
docker_args.append("--volume=\"/tmp/.X11-unix:/tmp/.X11-unix:rw\"")
docker_args.append("--volume=\"$HOME/.Xauthority:/root/.Xauthority:rw\"")
docker_args.append("--name=\"{}\"".format(IMAGE_NAME))
docker_args.append("--privileged")
docker_args.append("--network=\"host\"")
docker_args.append("--user {0}:{0}".format(ut.get_uid()))
# Keep user settings
docker_args.append("--volume {}/user/:/home/{}/".format(temp_volume, user))
# Mount workspace
docker_args.append("--volume {}:/{}".format(ws_mount, ws_name))
docker_args.append("--volume {}/ws/build/:/{}/build/".format(temp_volume, ws_name))
docker_args.append("--volume {}/ws/devel/:/{}/devel/".format(temp_volume, ws_name))
docker_args.append("-e ROS_HOSTNAME=localhost")
docker_args.append("-e ROS_MASTER_URI=http://localhost:11311")
docker_args.append("--workdir /{}/".format(ws_name))
if ut.is_nvidia():
docker_args.append("--runtime=\"nvidia\"")
dockerfile += "_nvidia"
# Join arguments together separated by a space
docker_args = ' '.join(docker_args)
docker_command = "docker run {} {} {}".format(docker_args, dockerfile, command)
ut.create_directory("{}/user/".format(temp_volume))
ut.create_directory("{}/ws/build/".format(temp_volume))
ut.create_directory("{}/ws/devel/".format(temp_volume))
ut.run_command("xhost +local:root")
ut.run_command(docker_command)
ut.run_command("xhost -local:root")
def attach_dev_environment(command):
command = 'docker exec -it --user {0}:{0} {1} {2}'.format(ut.get_uid(), IMAGE_NAME, command)
ut.run_command(command)
def is_running():
command = 'docker ps | grep {} > /dev/null'.format(IMAGE_NAME)
try:
subprocess.check_call(command, shell=True)
except Exception:
return False
return True
def main():
# Parse arguments
parser = argparse.ArgumentParser()
parser.add_argument('-c', '--cmd', dest='command', default='bash')
parser.add_argument('-r1', '--ros1', dest="ros1_version", default="melodic")
parser.add_argument('-r2', '--ros2', dest="ros2_version", default="")
parser.add_argument('-ws', '--workspace', dest='workspace', default="/home/{}/catkin_ws".format(ut.get_user()))
args = parser.parse_args()
if not is_running():
run_dev_environment(args.command, ws_mount=args.workspace, ros1=args.ros1_version, ros2=args.ros2_version)
else:
attach_dev_environment(args.command)
if __name__ == '__main__':
main()
下面我们对上面文档进行解释,除了上面已有的r1和r2以外,还多出了-c和-ws
[-c|—cmd]: 运行命令(默认为bash)。Tmux终端也可以使用。
[-ws|—workspace]: 选择要挂载的工作区域,避免重复使用cd来修改参数
ROS 1 Melodic + Gazebo 11
./run --cmd tmux
ROS 2 Eloquent + Gazebo 9
./run --ros2 eloquent -ws "/home/my_user/my_colcon_ws"
从下图中我们可以看到docker环境已经启动,此时,我们仅需要正常的去使用该容器即可,避免了大量的时间的浪费。
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