ROS Docker Base

Basic docker template to build and launch a ROS2 docker application without any further requirements than Docker. Use these repository files as a base for building your applicaion and iterate on the application with a binded volume in Docker, syncing updates between development and build/test.

Steps

1. docker-compose build
2. docker-compose run ros

You should be dropped to a prompt as the ros user in the home directory and anything in the app directory is now in /home/ros/workspace on the container.

Validation

1. ros2 run demo_nodes_cpp talker
2. In another terminal, run docker ps and take note of the Container ID, then run docker exec --rm -ti <ID> bash using that Container ID to bring up a second terminal on the container.
3. In the second terminal, run ros2 run demo_nodes_py listener.

You should observe the first terminal publishing "Hello World" and the second terminal listening to it.

Usage for Development

You can now drop your application into the app folder, run it using docker-compose, and begin iterating on it and (re)building it from within the container to get the application working as expected.

Usage in Production

You can edit or bypass the docker-compose.yml file, building the application and pushing it out to your favorite container hub provider for CI/CD pipeline ingestion.