Docker ROS images builder

This repo has many different uses:

1. Build a ROS image for either ROS 1 or 2
2. Work with a persistent container with a mounted ROS workspace
3. Upload the entire workspace to an edge device

Supported images

Currently, you can target against:

• any ROS1 distribution (e.g. Noetic)
  • base: no-GUI, base packages, based on official ros:${ros_distro}-ros-base image
  • full: GUI with RViz and Gazebo, based on official osrf/ros:${ros_distro}-desktop-full image
  • full-gpu: GUI with RViz and Gazebo with GPU support, based on full image
  • full-cudagl: (deprecated!) GUI with RViz and Gazebo with GPU support, based on official nvidia/cudagl image
• any ROS2 distribution (e.g. Foxy)

How to use

Create a ROS (either 1 or 2) image with:

# Just build the image
# NOTE: you have to manually build any dependent image, e.g. if you want full-gpu:
./init-ros-box.sh -d noetic -v base
./init-ros-box.sh -d noetic -v full # depends on 'base'
./init-ros-box.sh -d noetic -v full-gpu # depends on 'full'

# Build the image and deploy a container, using `ros_noetic` directory as your workspace
./init-ros-box.sh -d noetic -v full-gpu -t ./ros_noetic

The deployed container can be started with go.sh. Once inside:

~/init_catkin_ws.sh # to install missing dependencies with rosdep and build your workspace

Upload the entire workspace in some edge device

Take a look at ./scripts/upload_ws.sh to build and upload the workspace you've deployed anywhere with rsync (just remember to set SOURCE_WS_PATH accordingly).

ToDos

• Add support for more ROS2 distributions
• Add support for more edge devices (cross compile with buildx)
• Rebase ROS1 full image on top of base
• Resolve internal image depedencies automatically when building