Turtlebot3 Dockerfile Humble

build.sh

docker build -t turtlebot3 .

Dockerfile

# https://ros.org/reps/rep-2001.html#simulation
FROM osrf/ros:humble-simulation

# https://answers.ros.org/question/411908/running-humble-on-turtlebot3/

# Install colcon_cd
RUN apt update
RUN apt install -y python3-colcon-common-extensions

# Set up colcon_cd for future bash sessions
RUN echo "source /usr/share/colcon_cd/function/colcon_cd.sh" >> ~/.bashrc
RUN echo "export _colcon_cd_root=/opt/ros/humble/" >> ~/.bashrc
RUN echo "source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash" >> ~/.bashrc

# Install turtlebot2 dependencies
RUN sudo apt install -y ros-humble-navigation2
RUN sudo apt install -y ros-humble-nav2-bringup
RUN sudo apt install -y ros-humble-turtlebot3*
#RUN sudo apt install -y ros-humble-turtle*

ENV TURTLEBOT3_MODEL=waffle
ENV GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/opt/ros/humble/share/turtlebot3_gazebo/models

# Workspace and Kobuki
RUN mkdir -p "/tb2_ros2_nav2/ros2_ws/src"
WORKDIR "/tb2_ros2_nav2/ros2_ws/src"
RUN git clone https://github.com/kobuki-base/kobuki_core.git
RUN git clone https://github.com/kobuki-base/velocity_smoother.git
RUN git clone https://github.com/kobuki-base/cmd_vel_mux.git
RUN git clone https://github.com/kobuki-base/kobuki_ros_interfaces.git
RUN git clone https://github.com/kobuki-base/kobuki_ros.git
RUN git clone https://github.com/stonier/ecl_core.git
RUN git clone https://github.com/stonier/ecl_lite.git
RUN git clone https://github.com/stonier/sophus.git
RUN sudo apt install -y ros-humble-action-msgs

# Change permissions
RUN sudo chmod 777 -R /tb2_ros2_nav2

WORKDIR "/tb2_ros2_nav2/ros2_ws"
# Install dependencies
## Disable ecl_cxx_warnings in kobuki_core
RUN sed -i 's/ecl_enable_cxx_warnings()/#ecl_enable_cxx_warnings()/g' src/kobuki_core/CMakeLists.txt
## Rosdep
RUN /bin/bash -c 'source /opt/ros/humble/setup.bash \
 && rosdep update && rosdep install -i --from-path src --rosdistro humble -y'

# Build
RUN /bin/bash -c 'source /opt/ros/humble/setup.bash \
 && colcon build --symlink-install'

# Entrypoint
COPY entrypoint.sh /
RUN chmod +x /entrypoint.sh
ENTRYPOINT ["/entrypoint.sh"]
# Interactive bash shell
CMD ["/bin/bash"]

entrypoint.sh

#!/bin/bash
set -e

# Setup the Demo environment
cd /tb2_ros2_nav2/ros2_ws/
source /opt/ros/humble/setup.bash
source install/local_setup.bash
exec "$@"

instructions.md

Start rocker instance

xhost +local:docker
./rocker.sh

Starting simulation

Start gazebo once

gazebo

Close gazebo.

Start the simulation

ros2 launch nav2_bringup tb3_simulation_launch.py headless:=False

Open different terminal

docker exec -it turtlebot2 /entrypoint.sh bash

rocker.sh

ROCKER_ARGS="--devices /dev/dri/ --dev-helpers --x11 --user-override-name spaceros-user --network host"

IMG_NAME=turtlebot3

# Replace `/` with `_` to comply with docker container naming
# And append `_runtime`
CONTAINER_NAME="$(tr '/' '_' <<< "$IMG_NAME")"
ROCKER_ARGS="${ROCKER_ARGS} --name $CONTAINER_NAME"
echo "Using image <$IMG_NAME> to start container <$CONTAINER_NAME>"

# Start the container
rocker ${ROCKER_ARGS} $IMG_NAME