ROS2 docker container

Introduction

• Docker container for Ubuntu 20 + ROS2 Foxy desktop. Make sure you have Docker engine installed.
• Builds basic python and interface package
• Add build instructions in package.xml and CMakeLists.txt/setup.py before running colcon build --packages-select {packagename}. you need to source bashrc for building of new packages

Instructions

1. git clone and cd ROS2
2. Build docker image with docker build -t foxy_tutorial .
3. Start a container with xhost +local:docker && docker run -it --rm --env="DISPLAY" --env="QT_X11_NO_MITSHM=1" -v "/tmp/.X11-unix:/tmp/.X11-unix:rw" -v $PWD/py_nodes:/root/ros2_ws/src/my_py_pkg/my_py_pkg/py_nodes -v $PWD/interfaces:/root/ros2_ws/src/my_robot_interfaces/interfaces --name foxy foxy_tutorial
4. To add your own files, use an additional -v tag when starting the container OR
   docker cp {filename} foxy:/root/ros2_ws/src/my_py_pkg/my_py_pkg/
5. You can test your installation with ros2 run demo_nodes_cpp talker and test display with rqt or ros2 run turtlesim turtlesim_node
6. To start another shell in the running container, open a new terminal and docker exec -it foxy bash