ROS2 Humble Docker Demo

This is the template for setting up and using ROS2 Humble in a Docker container. This template is required by all UWRobotics software project.

Project Structure

docker_demo/
├── Dockerfile              # Docker image definition
├── docker-compose.yml      # Container orchestration
├── scripts/                # Shell scripts
│   ├── setup.sh            # Host-side: detects UID/GID, prepares .env
│   ├── docker-entrypoint.sh# Container startup script
│   └── build.sh            # Build script for ROS2 workspace
├── src/                    # ROS2 source code
└── README.md               # This file

How to use UWRobotics Template

1. Build and run the Docker Container with Docker Compose

Step 1: Build and Run Container

docker compose build

# Build the Docker image and start container
docker compose up -d

# Enter the container
docker compose exec ros2-dev bash

Step 2: Create New ROS2 Package Inside Container

# Inside container - create new package
cd /ros2_ws/src
ros2 pkg create --build-type ament_cmake my_cpp_package \
   --dependencies rclcpp std_msgs \
   --license MIT

# Or create Python package
ros2 pkg create --build-type ament_python my_python_package \
   --dependencies rclpy std_msgs \
   --license MIT

Step 3: Build and Test

# Build the workspace
cd /ros2_ws
./build.sh

# Source the workspace
source install/setup.bash

# Run the node
ros2 run <package_name> <executable_name> <arg1> <arg2>

# Test the package
colcon test --packages-select <pkg1> <pkg2> <pkg3>

# View the test result
colcon test-result --verbose

Method 2: Direct Docker Commands

Build Image:

docker build -t ros2-humble-demo .

Run Container:

docker run -it --rm \
  --name ros2_container \
  -v $(pwd)/src:/ros2_ws/src:rw \
  -v $(pwd)/build:/ros2_ws/build:rw \
  -v $(pwd)/install:/ros2_ws/install:rw \
  --net=host \
  ros2-humble-demo

3. ROS2 Development Utils Available in Container

Package Creation

# C++ package
ros2 pkg create --build-type ament_cmake package_name --dependencies rclcpp std_msgs geometry_msgs

# Python package
ros2 pkg create --build-type ament_python package_name --dependencies rclpy std_msgs

# Generating executable packages
ros2 pkg create --build-type ament_cmake --license Apache-2.0 --node-name my_node my_package

Building and Dependencies

# Install dependencies
rosdep install --from-paths src --ignore-src -r -y

# Build specific packages
colcon build --packages-select package_name

# Build with debug info
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Debug

Testing and Quality

# Run tests
colcon test --packages-select package_name

# View test results
colcon test-result --verbose

# Lint code
ament_lint_auto package_name

Runtime Tools

# List nodes
ros2 node list

# Check topics
ros2 topic list
ros2 topic echo /topic_name

# Launch files
ros2 launch package_name launch_file.py

# Parameter management
ros2 param list
ros2 param get /node_name parameter_name

Quick Start

1. Clone and setup (automatic user detection):

   git clone <this-repo>
   cd docker_demo
   ./scripts/setup.sh

2. Start the development environment:

   docker compose build
   docker compose up -d

3. Enter the container:

   docker compose exec ros2-dev bash

4. Build and test your ROS2 packages:

   # Inside the container
   cd /ros2_ws
   ./build.sh
   
   # Source the workspace
   source install/setup.bash
   
   # Run the demo executable
   ros2 run hello_world test_exec

5. Access files from VS Code:

   • All files in build/, install/, and log/ should be created your computer not docker user
   • Edit source files in src/ normally

Stopping the Environment

# Stop container
docker-compose down

# Remove everything including volumes
docker-compose down -v