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Docker Installation

Doing a Docker installation is a great method for setting up the repository on any operating system that isn't Ubuntu 22.04. It is a faster and more lightweight alternative to a traditional Virtual Machine. In addition, you can still run GUI applications like Gazebo using the NoVNC desktop environment.

1. Install Docker

Windows Instructions

Mac Instructions

Ubuntu Instructions

NOTE

  • If you are on Linux, add yourself to the docker group. Being a member of the docker group allows you to run docker without sudo.
sudo groupadd docker
sudo usermod -aG docker $USER

After you complete the installation, restart your computer!

To check that everything installed OK, you should be able to open the command line and type:

docker

2. Install VS Code (Highly Recommended)

You do not have to use VS Code. However, VS Code has very nice extensions for using Docker containers.

Download VS Code here

2a. Install VS Code Extensions

Search for and install the following extensions in VS Code

  • Docker
  • DevContainers
  • ROS
  • C/C++
  • CMake

3. Install Git

Install Git using the instructions here

4. Obtain Docker Image

You can either pull the image from Dockerhub or build the image manually using a Dockerfile. Pulling from Dockerhub is faster, easier, and less error-prone. However, if you want to edit the Dockerfile for some reason, do the manual build instructions.

  • Pull From Dockerhub (Recommended!)

docker pull robojackets/urc-gui-baseimage

5. Create directory to mount container

The docker container is essentially a self-contained instance of Ubuntu 22.04, but can access some files on your system in a limited way. We use this so the container can see the repositories you clone locally, that way both local development and containerized testing can be done without any delays.

You can place this directory wherever you want, I recommend /home for Mac/Linux and C:\Users\[Username]\ for Windows

mkdir urc_container

6. Download our installation script

Our installation script will

  • Clone all necessary repos
  • Automatically setup your desktop NoVNC environment

7. Move the script into your urc_container directory

8. Run the script

If on Windows, you will need to use Git Bash to run the following commands!

Run this command only if you are on Mac/Linux

chmod +x setup.sh
./setup.sh

9. Access your new container

For beginners to Docker:

  • Go to localhost:6060 in your web browser of choice

Recommended way:

  • Open up VS Code
  • Click on the whale Docker icon on your left
  • Right click the currently running container (Should be called tiryoh/ros2)
  • Select open in browser

Picture of where to head in VS Code

10. Head to your mounted directory

Open terminator in the desktop (this is the recommended terminal for commands in your container)

You can find terminator in the bottom left corner here

In terminator, run

cd urc_container

11. Get necessary packages

First, it's always a good idea to check for updates. Nothing will happen if you just created the image. However, if you decide to re-create the container a while after you made the initial image, you will need to update those packages.

sudo apt update
sudo apt upgrade
cd /rover_ws
rosdep update && rosdep install --from-paths src --ignore-src -r -y

12. Build the repo!

Now, it's time for the moment of truth!

colcon build

13. Developing using the Docker NoVNC container

  1. Work on your code in urc_container locally to avoid input lag
  2. When ready to test, you can build and run your code in the container just like on native Ubuntu!

14. Closing/Starting the Container

Once you are done with the conatiner, be sure to close the Docker container. Otherwise, the Docker container will take up a big chunk of memory on your computer.

  • Using VS Code

    • Go to the Docker tab in VS Code
    • Right click the container (it has a green arrow next to it if already running)
    • Press stop/start

    Picture of where to head in VSCode

  • Using the install script

    • Go to where you placed urc_container locally
    • Run ./setup.sh stop to stop
    • Run ./setup.sh start to start up again

Faster, but untested docker method

The below steps are for a faster docker container. However, there are a few caveats: running graphical

4. Clone the Repository

Open a terminal (or Git Bash on Windows), create a folder where you want the repository to be located, navigate to that folder, and run:

mkdir rover_ws
cd rover_ws && git clone https://github.com/RoboJackets/urc-software src

5. Pull the docker image

docker pull osrf/ros:humble-desktop

6. Run the docker container

The first time, you will have to navigate to the docker folder (located inside rover_ws/src/docker) and run the following command:

docker compose up

You can open another terminal and run docker exec -it ros_desktop bash to access the container. For subsequent launches, it is recommended to use VS Code to connect to the container and develop inside the container.

7. Connect to container using VS Code (Highly Recommended)

Open VS Code, press F1, and select Dev Containers: Attach to Running Container.... Then select the container named ros_desktop. You should now be conneceted to the container and can open the folder /home/rover_ws to start working on the code.

8. Modify container .bashrc

To make sure that ROS is sourced every time you open a new terminal in the container, run the following command inside the docker container:

echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc

9. Install dependencies and build the code

Run the following commands inside the docker container:

sudo apt update
rosdep update
cd /home/rover_ws
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install