Zenn
Open4

ROS2 Humble GUIなし Docker Base (Single-Arch amd64 or Multi-Arch amd64/arm64)

ROS2
PINTOPINTO
FROM ubuntu:22.04
ENV DEBIAN_FRONTEND=noninteractive
ARG USERNAME=user
ARG ROS2_WS=/home/${USERNAME}/ros2_ws
ARG DISTRO=humble

SHELL ["/bin/bash", "-c"]

# Install ROS2 Humble
RUN apt-get update \
    && apt-get upgrade -y \
    && apt-get install -y locales \
    && locale-gen en_US en_US.UTF-8 \
    && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 \
    && export LANG=en_US.UTF-8 \
    && apt-get install -y --no-install-recommends \
        curl \
        wget \
        gcc \
        git \
        make \
        bash-completion \
        gnupg2 \
        lsb-release \
        build-essential \
        ca-certificates \
    && curl \
        -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key \
        -o /usr/share/keyrings/ros-archive-keyring.gpg \
    && echo "\
        deb [arch=$(dpkg --print-architecture) \
        signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] \
        http://packages.ros.org/ros2/ubuntu \
        $(lsb_release -cs) main" \
        | tee /etc/apt/sources.list.d/ros2.list > /dev/null \
    && apt-get install -y \
        software-properties-common \
    && add-apt-repository universe \
    && apt-get install -y  --no-install-recommends \
        software-properties-common \
        python-is-python3 \
        python3-pip \
        python3-rosdep \
        python3-argcomplete \
        python3-colcon-common-extensions \
        ros-${DISTRO}-ros-base \
        ros-dev-tools \
    && apt clean \
    && rm -rf /var/lib/apt/lists/* \
    && rm /etc/apt/apt.conf.d/docker-clean

# ROS2 environment setting
RUN echo "root:root" | chpasswd \
    && useradd \
        --create-home \
        --home-dir /home/${USERNAME} \
        --shell /bin/bash \
        --user-group \
        --groups adm,sudo \
        ${USERNAME} \
    && echo "${USERNAME}:${USERNAME}" | chpasswd \
    && cat /dev/null > /etc/sudoers.d/${USERNAME} \
    && echo "%${USERNAME}    ALL=(ALL)   NOPASSWD:    ALL" >> \
        /etc/sudoers.d/${USERNAME} \
    && mkdir -p ${ROS2_WS} \
    && chown ${USERNAME}:${USERNAME} ${ROS2_WS}

USER ${USERNAME}
WORKDIR ${ROS2_WS}

RUN echo "source /opt/ros/${DISTRO}/setup.bash" >> ~/.bashrc \
    && echo -e "\n\
ID=2\n\
if [ \$ID -eq 0 ]; then\n\
    export ROS_LOCALHOST_ONLY=1\n\
else\n\
    export ROS_DOMAIN_ID=\$ID\n\
fi\n" >> ~/.bashrc \
    && echo "sudo rosdep init" >> ~/.bashrc \
    && echo "sudo rosdep fix-permissions" >> ~/.bashrc \
    && echo "rosdep update" >> ~/.bashrc
PINTOPINTO
TAG=20230125
  • Single-Arch (Local)
    docker build \
--no-cache \
--build-arg USERNAME=user \
-t pinto0309/ros2-humble-base:${TAG} .

or

  • Multi-Arch (Docker Hub)
    docker buildx create --name multiarch-builder
docker buildx use multiarch-builder
docker buildx build \
--no-cache \
--platform linux/amd64,linux/arm64 \
--build-arg USERNAME=user \
-t pinto0309/ros2-humble-base:${TAG} \
--push .

    docker buildx imagetools inspect pinto0309/ros2-humble-base:${TAG}

PINTOPINTO
docker run --rm -it \
-v `pwd`:/home/user/ros2_ws \
-w /home/user/ros2_ws \
pinto0309/ros2-humble-base:${TAG}
PINTOPINTO

初回起動後に ~/.bashrc の以下３行を削除してコンテナをコミットすると良さげ。

sudo rosdep init
sudo rosdep fix-permissions
rosdep update