1. Install docker
Official website teaching installation website: Install Docker Engine on Ubuntu | Docker Documentation
2. Install the noetic image
ros mirror URL
https://hub.docker.com/r/osrf/ros
https://hub.docker.com/r/osrf/ros/tags
sudo docker pull osrf/ros:noetic-desktop-full
3. Create the container
3.1 The host machine opens xhost, making the visual interface in docker (vscode rviz)
xhost(参数)
//+：关闭访问控制，允许任何主机访问本地的X服务器；
//-：打开访问控制，仅允许授权清单中的主机访问本地的X服务器。
Note: Every time the container is restarted, the host has to execute it again, otherwise a visual error will be reported in the container.
3.2 Create a host data folder as a data container volume with the container
3.3 Create a container and mount the data container volume
create container
sudo docker run -it -v /home/nuc/noetic_container_data_1:/data --device=/dev/dri --group-add video --volume=/tmp/.X11-unix:/tmp/.X11-unix --env="DISPLAY=$DISPLAY" --env="QT_X11_NO_MITSHM=1" --name=noetic_ros_2 osrf/ros:noetic-desktop-full /bin/bashMust add:
--env="QT_X11_NO_MITSHM=1"Otherwise, the inside of docker cannot be visualized (the host must first execute the xhost + command)
view container
sudo docker ps //查看正在运行的容器
sudo docker ps -a //查看所有的容器
Test whether the host and container data are synchronized
- initial state
- The host creates a file:
The container presents this file:
- The container creates a file
The file appears on the host:
3.4 Exiting a container and entering it again
quit
View container ID
enter again
sudo docker start -ia [container_id]Shut down the running container
sudo docker stop id4. ROS Noetic test
4.1 Open a terminal in the container (error, the environment is not synchronized)
sudo docker exec -it your-docker-id /bin/bash4.2 Using tmux
(43 messages) tmux common commands and shortcuts
Install
sudo apt-get update
sudo apt install tmuxSplit screen with tmux
tmux
Then press ctrl+b first, then press c, two bash will appear below
Press ctrl+b first, then press p to return to the previous bash;
Press ctrl+b first, then press n to return to the next bash;
Open roscore on the left, and open rviz on the right terminal
#left
roscore
#right
rviz
Close a window of tmux
First press ctrl+b, then press x, and then press y;
4.2 View the little turtle
Press ctrl+b, followed by c, and a total of 3 windows will be built
first window input
roscore
Enter the second window
rosrun turtlesim turtlesim_node
third window input
rosrun turtlesim turtle_teleop_key
Then you can control the little turtle with the direction buttons
Install the visual container management tool Portainer
sudo docker pull portainer/portainer
sudo docker run -d -p 9000:9000 -v /var/run/docker.sock:/var/run/docker.sock --restart=always --name prtainer portainer/portainer
Open the IE browser, enter the ip:9000 port, create a new account and password, you can enter the following docker management interface, with this tool, we can save us from learning docker-related console commands again, and view the installed docker in the visual interface Docker containers and running docker images.
So far the installation is successful!
reference:
Ubuntu20.04+Docker+ROS Noetic+LOAM environment configuration