Docker setup

The adapter can be run in a docker container based on osrf/ros:humble-desktop that simplifies the process of installing dependencies not available from rosdep, and also includes useful utilities.

Build the docker image

Run the following script to build the docker image

./docker/build.sh

Run the container

Run the following script to run the container and mount the workspace on it

./docker/run.sh

The default entrypoint is a bash shell with the ROS workspace (~/ws) as the default location. The user will have the same name as the user that executed the run script, with passwordless sudo.

Commit changes to the image

You can commit changes to the image when you exit the container. There is an exit trap implemented. For example, assuming you are running a terminal in the container:

$ exit
exit
access control enabled, only authorized clients can connect
Do you want to overwrite the image called 'inorbit_rmf' with the current changes? [y/n]: y
Overwriting docker image...
sha256:d7bc07a09aadb9b1935b5c0a87e64ad19c5245c9145fe5b39ef6b198be6cdcc1

In case you applied changes you don't want to preserve, just type n. Otherwise, y.

Using different image or container names

In case you want to change the image or container name, make sure to run the scripts with -h or --help to see all the possible options.

$ ./docker/build.sh --help
Building the docker image for ros2 humble rmf development.

Usage:   build.sh [OPTIONS]

  Options:

        -i --image_name          Name of the image to be built (default inorbit_rmf).

  Example:

        build.sh --image_name custom_image_name

$ ./docker/run.sh --help
Running the container...

Usage:   run.sh [OPTIONS]

  Options:

        -i --image_name          Name of the image to be run (default inorbit_rmf).

        -c --container_name      Name of the container(default inorbit_rmf).

        --use_nvidia             Use nvidia runtime.

  Examples:

        run.sh

        run.sh --image_name custom_image_name --container_name custom_container_name