DockerForRobotics

Intial Setup

• Remove the outdated versions of Docker from your system:

for pkg in docker.io docker-doc docker-compose docker-compose-v2 podman-docker containerd runc; do sudo apt-get remove $pkg; done

• I suggest you install docker using the convinence script method mentioned in the official docker installation instructions Page.

• Verify the Installation using:

sudo docker run hello-world

• Post-Installation Configuration:

sudo groupadd docker
sudo usermod -aG docker $USER
sudo reboot

• To test that you can run Docker without using “sudo”, type the following command:

docker run hello-world

• To enable docker to start on boot:

sudo systemctl enable docker.service
sudo systemctl enable containerd.service

• If you're using a already docker configured system then check the following:

docker info -f '{{ .DockerRootDir}}'

• If your docker root is not configured to the docker root directory then change it. You can follow this Page

Setting up docker for your project

• Clone this repo into your main project folder (The metapkg directory):

cd ~/ros2_ws/src/{yourMetaPkgDir}/ 
git clone -b main https://github.com/TankalaSatyaSai/DockerForRobotics.git 
mv -r DockerForRobotics docker 

• Create your own docker image:

cd ./docker
bash image_build.sh
# This will might take sometime,depending on your system speed. 

• Check the image, if its created succesfully:

docker images | grep {YourImageName}
# By default I've named it robot_sim

• After the image is created to run the services in docker compose:

docker-compose up 

• If you want to run only a specific service:

docker compose up -d robot_sim

• To enter into a specific container:

docker compose exec robot_sim bash

Post Commands

• Provide the control access to the X server, which is responsible for handling graphical displays on linux. You could do this by:

# run this in your host shell
xhost +local:root 
#or 
xhost +

Commands to be noted

• To remove all unused Docker resources (images, containers, networks, and volumes), type:

docker system prune

• If at any stage you want to remove the image you just created, type:

docker rmi manipulation:latest

• To remove unused images, you would type:

docker image prune

• To remove all images, you would do this:

docker image prune -a

• You can also free up space on your computer using this command (I run this command regularly):

docker system prune

• To inspect an image’s details:

docker image inspect manipulation:latest

• To view the history of an image’s layers:

docker history manipulation:latest

• To save an image as an archive:

docker save manipulation:latest > manipulation.tar

• To load an image from a tar archive:

docker load < manipulation.tar