docker_installation.md

Docker Installation

Doing a Docker installation is a great method for setting up the repository on any operating system that isn't Ubuntu 22.04. It is a faster and more lightweight alternative to a traditional Virtual Machine. In addition, you can still run GUI applications like Gazebo using the NoVNC desktop environment.

1. Install Docker

Windows Instructions

Mac Instructions

Ubuntu Instructions

NOTE

• If you are on Linux, add yourself to the docker group. Being a member of the docker group allows you to run docker without sudo.

sudo groupadd docker
sudo usermod -aG docker $USER

After you complete the installation, restart your computer!

To check that everything installed OK, you should be able to open the command line and type:

docker

2. Install VS Code (Highly Recommended)

You do not have to use VS Code. However, VS Code has very nice extensions for using Docker containers.

Download VS Code here

2a. Install VS Code Extensions

Search for and install the following extensions in VS Code

• Docker
• ROS
• C/C++
• CMake

3. Install Git

Install Git using the instructions here

4. Obtain Docker Image

You can either pull the image from Dockerhub or build the image manually using a Dockerfile. Pulling from Dockerhub is faster, easier, and less error-prone. However, if you want to edit the Dockerfile for some reason, do the manual build instructions.

• Pull From Dockerhub (Recommended!)

docker pull robojackets/urc-gui-baseimage

• Manually Build Docker Image

5. Create directory to mount container

The docker container is essentially a self-contained instance of Ubuntu 22.04, but can access some files on your system in a limited way. We use this so the container can see the repositories you clone locally, that way both local development and containerized testing can be done without any delays.

You can place this directory wherever you want, I recommend /home for Mac/Linux and C:\Users\[Username]\ for Windows

mkdir urc_container

6. Download our installation script

Our installation script will

• Clone all necessary repos
• Automatically setup your desktop NoVNC environment

7. Move the script into your urc_container directory

8. Run the script

If on Windows, you will need to use Git Bash to run the following commands!

Run this command only if you are on Mac/Linux

chmod +x setup.sh

./setup.sh

9. Access your new container

For beginners to Docker:

• Go to localhost:6060 in your web browser of choice

Recommended way:

• Open up VS Code
• Click on the whale Docker icon on your left
• Right click the currently running container (Should be called tiryoh/ros2)
• Select open in browser

10. Head to your mounted directory

Open terminator in the desktop (this is the recommended terminal for commands in your container)

In terminator, run

cd urc_container

11. Get necessary packages

First, it's always a good idea to check for updates. Nothing will happen if you just created the image. However, if you decide to re-create the container a while after you made the initial image, you will need to update those packages.

sudo apt update
sudo apt upgrade

cd /rover_ws
rosdep update && rosdep install --from-paths src --ignore-src -r -y

12. Build the repo!

Now, it's time for the moment of truth!

colcon build

13. Developing using the Docker NoVNC container

1. Work on your code in urc_container locally to avoid input lag
2. When ready to test, you can build and run your code in the container just like on native Ubuntu!

14. Closing/Starting the Container

Once you are done with the conatiner, be sure to close the Docker container. Otherwise, the Docker container will take up a big chunk of memory on your computer.

• Using VS Code

  • Go to the Docker tab in VS Code
  • Right click the container (it has a green arrow next to it if already running)
  • Press stop/start

  

• Using the install script

  • Go to where you placed urc_container locally
  • Run ./setup.sh stop to stop
  • Run ./setup.sh start to start up again