ROS2andGazeboDockerContainer

##Installation Instructions:

• For all
  • Highly recommended that change your computer to become either a dual booted or purely Linux computer (as ROS and Gazebo with USB pass through work natively only on Linux machines)
  • Download docker desktop: https://www.docker.com/products/docker-desktop
  • Or for Linux download the apt version of Docker (here: https://docs.docker.com/engine/install/ubuntu/) not the snap version
  • clone repo with git clone git@github.com:GonzagaRobotics/ROS2andGazeboDockerContainer.git
  • run cd ROS2andGazeboDockerContainer
• Windows
  • Download and Install WSL 2: https://learn.microsoft.com/en-us/windows/wsl/install-manual
  • Download and install VcXsrv: https://sourceforge.net/projects/vcxsrv/
  • Run xlaunch.exe, which is in C:\Program Files\VcXSrv\ after installing and on the extra settings page:
    • check the clipboard, primary selection, and disable access control options
    • uncheck the Native opengl option
    • Save these settings to a config.xlaunch file so you can tap this file and not have to go through these steps
    • run config.xlaunch whenever you want to launch a GUI program with your docker container
  • Using the Command Prompt in the ROS2andGazeboDockerContainer repo run .\start_windows_docker.bat to start and enter the container
  • Enter command vim ~/.bashrc
  • Shift+G to go to the bottom of the file
  • press i to enter insert mode (DO NOT USE YOUR MOUSE TO CLICK, use arrow keys to move around the cursor)
  • Type: export DISPLAY=host.docker.internal:0.0
  • Exit and save the on vim by pressing the escape key, ESC, then typing :wq then enter.
  • back in the container command line, run source ~/.bashrc
• Linux
  • Run ./start_linux_docker.sh to start and enter the container
• Mac
  • Download XQuartz: https://www.xquartz.org/
  • Follow Running GUI’s with Docker on Mac OS X: https://cntnr.io/running-guis-with-docker-on-mac-os-x-a14df6a76efc
  • Run ./start_mac_docker.sh to start and enter the container
• On Jetson
  • Run ./start_jetson_docker.sh to start and enter the container
• On All to make sure graphics are working
  • Test with ign gazebo in the container

Tutorials to go through:

• ROS2: https://docs.ros.org/en/humble/Tutorials.html
  • For opening multiple terminal windows for the Docker instance use tmux: https://www.ocf.berkeley.edu/~ckuehl/tmux/
  • For opening and writing to text files use Vim: https://www.openvim.com/
• Ignition Gazebo: https://gazebosim.org/docs

Info:

• Contains ROS2 Humble and Ignition Gazebo as well as ROS2 setup with commands from the tutorial