ReadMe.md

Welcome to DockedRobotics

Below are the different versions that can be used as base templates

Ros Foxy Version Steps [Cuda support] :

Pre-installation Steps:

1. Nvidia Container Toolkit Setup:

   • Set up the package repository and GPG key.

     set distribution $(. /etc/os-release;echo $ID$VERSION_ID) \
            && curl -fsSL https://nvidia.github.io/libnvidia-container/gpgkey | sudo gpg --dearmor -o /usr/share/keyrings/nvidia-container-toolkit-keyring.gpg \
            && curl -s -L https://nvidia.github.io/libnvidia-container/$distribution/libnvidia-container.list | \
                  sed 's#deb https://#deb [signed-by=/usr/share/keyrings/nvidia-container-toolkit-keyring.gpg] https://#g' | \
                  sudo tee /etc/apt/sources.list.d/nvidia-container-toolkit.list

   • Install the toolkit.

     sudo apt-get update && sudo apt-get install -y nvidia-container-toolkit

   • Configure the runtime.

     sudo nvidia-ctk runtime configure --runtime=docker

2. Install Xhost for GUI:

   xhost +local:docker

Containerizing:

1. Build the Dockerfile:

   docker build -t my_ros_container .

2. Run the Docker Container:

   docker run --gpus all -it --net=host \
       --env NVIDIA_DRIVER_CAPABILITIES=all \
       --env="DISPLAY" \
       --env="QT_X11_NO_MITSHM=1" \
       --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
       --volume="/path/to/host/directory:/home/gazebo_ros" \
       my_ros_container

Ros Humble Version Steps [No CUDA Support]:

Pre-installation:

1. Install Xhost for GUI:

   xhost +local:docker

Containerizing:

1. Build the Dockerfile:

   docker build -t my_ros_container .

2. Run the docker container :

   docker run -it --rm --net=host --privileged \
       --env="DISPLAY" \
       --env="QT_X11_NO_MITSHM=1" \
       --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
       -v "/home/neo/Documents/FREDBOTS2.0/Bot_Volume_2/ros2_ws/src:/ros2_ws/src" \
       -p 2222:22 \
       ros2-humble-gazebo
   

Inside the Container:

• The container contains an Ubuntu image with ROS2 and Gazebo installed.
• Running scripts and performing required tasks should be done in the /persistent_data folder, as it is directly attached to the user's directory.
• Alternatively, you can create a Docker volume to attach it to.