Docker Cheatsheet

docker_cheatsheet.md

Using Docker

Before building the docker image go to the cloned whill-robot directory

cd ~/catkin_ws/src/whill-robot

Build Docker images

docker build -t ros-noetic-zed .

For building using Jetson devices

docker build -f Dockerfile.jetson -t ros-noetic-zed .

Run this once on host every boot to enable GUI (Or add it to Ubuntu Startup applications)

xhost + local:docker

Run this to open a new interactive session (bash)

docker run -it --runtime nvidia --net=host --ipc=host --gpus all \
    --privileged \
    --env NVIDIA_DRIVER_CAPABILITIES=all \
    --env DISPLAY \
    --env QT_X11_NO_MITSHM=1 \
    --env TTY_WHILL=/dev/robot_whill \
    --volume /tmp/.X11-unix:/tmp/.X11-unix:rw \
    --volume /dev:/dev \
    --volume /etc/timezone:/etc/timezone -v /etc/localtime:/etc/localtime \
    --volume ~/catkin_ws:/root/catkin_ws:rw \
    --volume ~/.ros:/root/.ros:rw \
    --name ros \
    ros-noetic-zed \
    bash

host ~/catkin_ws directory will be binded to container /root/catkin_ws directory and host ~/.ros directory will also binded to container /root/.ros directory

To open new terminal use byobu inside container or run new interactive session

docker exec -it ros bash

To stop container

docker stop ros

To start container

docker start ros

To delete container (might be needed when rebuilding images)

docker container rm ros