ros2-docker-quickstarter

ros2-docker-quickstarter is a lightweight template repository designed to bootstrap your ROS2 projects in a Docker environment. It comes with pre-configured Dockerfiles and scripts to eliminate boilerplate code, enabling you to get started quickly and focus on developing your robotics applications.

Project structure

├── docker-compose.yml
├── Dockerfile
├── gitignore
├── README.md
├── ros2_ws
│   └── src
│       └── my_python_package
│           ├── launch
│           │   └── run.launch.py
│           ├── my_python_package
│           │   ├── __init__.py
│           │   └── my_node.py
│           ├── package.xml
│           ├── resource
│           │   └── my_python_package
│           ├── setup.cfg
│           ├── setup.py
│           └── test
│               ├── test_copyright.py
│               ├── test_flake8.py
│               └── test_pep257.py
└── ros_entrypoint.sh

7 directories, 15 files

How to Run the Project

Using the Dockerfile

Build the Docker Image:

sudo docker build -t ros2_docker .

Run the Docker Container:

sudo docker run -it --rm ros2_docker

Using the docker composer

Build and run

sudo docker compose build && sudo docker compose up -d

How this was created

mkdir -p ros2_ws/src
cd ros2_ws/src
ros2 pkg create my_python_package --build-type ament_python --dependencies rclpy

After setting up the initial workspace, the following changes were made:

• A my_node.py file was created inside the my_python_package with a sample subscriber implementation.
• The setup.py file was updated accordingly to my_node.
• Then Docker file and docker-compose.yml file was created

Contributing

Contributions are welcome! Feel free to fork the repository and submit pull requests with improvements or additional features.