Docker file and run commands

docker_ws.md

The docker file is expected to be on the same folder level as the src folder in the workspace

FROM osrf/ros:humble-desktop

ENV ROS_DISTRO=humble

RUN apt-get update && apt-get install -y \
    python3-pip \
    ros-${ROS_DISTRO}-ros-gz \
    ros-${ROS_DISTRO}-navigation2 \
    ros-${ROS_DISTRO}-nav2-bringup \
    ros-${ROS_DISTRO}-ros-testing

RUN python3 -m pip install vcstool
RUN rosdep update

WORKDIR /home/sim_ws
COPY src src
WORKDIR /home/sim_ws/src/navigation2_ignition_gazebo_example
RUN rosdep install -y -r -i  --from-paths . 

WORKDIR /home/sim_ws
RUN /ros_entrypoint.sh colcon build

ENV IGN_IP=127.0.0.1
ENV IGN_GAZEBO_RESOURCE_PATH="/home/sim_ws/install/sam_bot_nav2_gz/share/sam_bot_nav2_gz/models"

To run the docker with GUI

xhost +local:docker

docker run \
-it \
--privileged \
--net=host \
--device /dev/dri/ \
-e DISPLAY=$DISPLAY \
-v $HOME/.Xauthority:/root/.Xauthority:ro \
${image_name} \
/bin/bash