1. docker安装
docker 安装可以参考官方链接按照提示一步一步操作可
对于ubuntu
# 删除旧版本 sudo apt-get remove docker docker-engine docker.io containerd runc
sudo apt-get update
sudo apt-get install ca-certificates curl gnupg lsb-release
curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo gpg --dearmor -o /usr/share/keyrings/docker-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/docker-archive-keyring.gpg] https://download.docker.com/linux/ubuntu \
$(lsb_release -cs) stable" | sudo tee /etc/apt/sources.list.d/docker.list > /dev/null
sudo apt-get update
sudo apt-get install docker-ce docker-ce-cli containerd.io
2. 添加权限
添加docker权限,给当前用户,使docker命令免sudo执行
sudo groupadd docker
sudo gpasswd -a ${USER} docker
sudo service docker restart
执行完成后只需要退出登出当前用户再重新登入即可，或者直接重启
执行docker ps 无异常即可
3. PIBOT ROS环境镜像
3.1 pibot env
- pull image
docker pull registry.cn-hangzhou.aliyuncs.com/pibot/pibot:melodic
- confirm
❯ docker images
REPOSITORY TAG IMAGE ID CREATED SIZE
registry.cn-hangzhou.aliyuncs.com/pibot/pibot melodic a08b09485640 3 days ago 3.09GB
3.2 编译
3.2.1 启动容器
- 启动上面的docker镜像
- 同时把pibot_ros目录映射的容器里
- 同时可以选择把串口设备映射到容器
如下面命令
docker run --rm -it -v "${HOME}/pibot_ros:/root/pibot_ros" \
--name pibot \
--device /dev/rplidar:/dev/rplidar \
--device /dev/pibot:/dev/pibot \
registry.cn-hangzhou.aliyuncs.com/pibot/pibot:melodic /bin/bash
3.2.2 编译环境
在上面的终端或这个执行docker exec -it pibot bash启动新的终端进入容器
cd ~/pibot_ros
# 配置pibot相关参数类型
./pibot_init_env.sh -m apollo -b stm32f1 -l rplidar -c none -a localhost
source ~/.bashrc
# 编译
cd ~/pibot_ros/ros_ws/ && catkin_make
3.2.3 测试
- 执行
docker exec -it pibot bash启动新的终端进入容器输入pibot_gmapping打开gmapping slam - 执行
docker exec -it pibot bash启动新的终端进入容器输入pibot_control打开控制终端即可控制pibot小车
3.2.4 可视化
配置的这个docker容器是无法启动图形界面的，如pibot_view启动rviz是无法启动的
root@45f1d3a89920:~# rosrun rviz rviz
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
qt.qpa.screen: QXcbConnection: Could not connect to display
Could not connect to any X display
我们可以配置多级通讯的方法，在宿主机启动rviz
容器中我们通过命令查看可以看到
eth0: flags=4163<UP,BROADCAST,RUNNING,MULTICAST> mtu 1500
inet 172.17.0.2 netmask 255.255.0.0 broadcast 172.17.255.255
ether 02:42:ac:11:00:02 txqueuelen 0 (Ethernet)
RX packets 79 bytes 13851 (13.8 KB)
RX errors 0 dropped 0 overruns 0 frame 0
TX packets 0 bytes 0 (0.0 B)
TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0
lo: flags=73<UP,LOOPBACK,RUNNING> mtu 65536
inet 127.0.0.1 netmask 255.0.0.0
loop txqueuelen 1000 (Local Loopback)
RX packets 0 bytes 0 (0.0 B)
RX errors 0 dropped 0 overruns 0 frame 0
TX packets 0 bytes 0 (0.0 B)
TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0
root@45f1d3a89920:~/pibot_ros# ./pibot_view_env.sh
PIBOT_ENV_INITIALIZED: 1
SYS_DIST: bionic
ROS_DIST: melodic
ROS_MASTER_URI: http://172.17.0.2:11311
ROS_IP: 172.17.0.2
ROS_HOSTNAME: 172.17.0.2
PIBOT_MODEL: apollo
PIBOT_LIDAR: rplidar
PIBOT_BOARD: stm32f1
PIBOT_3DSENSOR: none
*****************************************************************
宿主机中的ifconfig可以看到docker的网卡ip是172.17.0.1
❯ ifconfig
docker0: flags=4163<UP,BROADCAST,RUNNING,MULTICAST> mtu 1500
inet 172.17.0.1 netmask 255.255.0.0 broadcast 172.17.255.255
inet6 fe80::42:c9ff:feca:591a prefixlen 64 scopeid 0x20<link>
ether 02:42:c9:ca:59:1a txqueuelen 0 (Ethernet)
RX packets 65597 bytes 4695797 (4.6 MB)
RX errors 0 dropped 0 overruns 0 frame 0
TX packets 136671 bytes 205180802 (205.1 MB)
TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0
enp2s0: flags=4099<UP,BROADCAST,MULTICAST> mtu 1500
ether 44:8a:5b:59:f3:9d txqueuelen 1000 (Ethernet)
RX packets 0 bytes 0 (0.0 B)
RX errors 0 dropped 0 overruns 0 frame 0
TX packets 0 bytes 0 (0.0 B)
TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0
lo: flags=73<UP,LOOPBACK,RUNNING> mtu 65536
inet 127.0.0.1 netmask 255.0.0.0
inet6 ::1 prefixlen 128 scopeid 0x10<host>
loop txqueuelen 1000 (Local Loopback)
RX packets 3414 bytes 382515 (382.5 KB)
RX errors 0 dropped 0 overruns 0 frame 0
TX packets 3414 bytes 382515 (382.5 KB)
TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0
我们只需要在宿主机设置ROS_MASTER_URI指向容器中的地址**172.17.0.2**，我们可以使用pibot提供的脚本pibot_init_env.sh配置,配置后可以查看当前配置如下
~/pibot_ros v2.0.0 *2 ?1 ./pibot_view_env.sh ✔ 11:56:02
PIBOT_ENV_INITIALIZED: 1
SYS_DIST: bionic
ROS_DIST: melodic
ROS_MASTER_URI: http://172.17.0.2:11311
ROS_IP: 172.17.0.1
ROS_HOSTNAME: 172.17.0.1
PIBOT_MODEL: apollo
PIBOT_LIDAR: rplidar
PIBOT_BOARD: stm32f1
PIBOT_3DSENSOR: none
这样我们在主机端输入pibot_view就可以启动rviz了