🚀 Docker Setup for Rover Robotics ROS 2 Jazzy

This guide explains how to set up a Docker-based ROS 2 Jazzy environment for Rover Robotics. including LiDAR, IMU, Intel RealSense, and PS4 controller support.

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✅ STEP 1 – Install Docker

1. Install Docker Engine for Ubuntu on the host system:
   https://docs.docker.com/engine/install/ubuntu/

   Recommended: Install using the APT repository.

2. Complete the Docker Linux post-install steps (non-root usage, etc.):
   https://docs.docker.com/engine/install/linux-postinstall/

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📦 STEP 2 – Clone the Repository

git clone https://github.com/RoverRobotics/roverrobotics_ros2_docker.git

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🔧 STEP 3 – Run the Setup Script

cd ~/roverrobotics_ros2_docker
chmod +x setup.sh
./setup.sh

Follow the prompts in the setup script. It will:

📥 Install:

• Rover Robotics ROS 2 Jazzy GitHub repo

• RP LiDAR S2 packages

• BNO055 IMU packages

• Intel RealSense packages

• ZED F9P GPS packages

• PS4 controller support

🐳 Build the Docker image

⚙️ Configure the automatic startup service for the Rover Jazzy Docker container (so the robot is ready to drive after boot)

📝 Note

• The Rover Robotics ROS 2 Jazzy repo, RP LiDAR S2 repo, BNO055 IMU repo, and ZEDF9P GPS repo will be installed in ~/rover_workspace on the host, and this workspace will be mounted into the Docker container.

• Intel RealSense files and packages will be installed inside the Docker image based on the user’s choice.

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🧱 STEP 4 – Build ROS 2 Packages Inside the Container

After the container is created and running, enter the container and run:

cd /home/ubuntu/rover_workspace
colcon build
source ~/.bashrc

ℹ️ The packages are not pre-built on the first setup, so colcon build is required before using the Rover Robotics ROS 2 stack.

Then, on the host, restart the services:

sudo systemctl restart roverrobotics.service
sudo systemctl restart can.service

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✅ You’re now ready to use the Rover Robotics ROS 2 Jazzy stack inside Docker.

💡 Check Useful Tips

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🛠️ Manual Setup (Alternative)

If you want to manually build the image and create the container instead of using setup.sh:

1️⃣ Build the Rover Jazzy Docker Image

chmod +x rover_jazzy_image.sh
./rover_jazzy_image.sh

2️⃣ Create the Rover Jazzy Container

chmod +x run_rover_rover_jazzy_con.sh
./run_rover_rover_jazzy_con.sh

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💡 Useful Tips (SSH, X11, User)

🔁 SSH to Host

• If you SSH into the host (which runs Docker) and want GUIs from inside the container:

Add this to your local SSH config (~/.ssh/config):

Host <your-host-alias>
    HostName <your-host-ip>
    User <your-username>
    ForwardX11 yes
    ForwardX11Trusted yes
    Compression yes

• 🖥️ Allow X11 Clients

On the host (when using a local or newly SSH’d client):

xhost +
xhost +local: 

• 👤 Use ubuntu User instead of root Inside the Container

Inside the container:

su - ubuntu

Even if you don’t need GUI / display, it’s strongly recommended to run all sensor launch files and ROS 2 nodes as the Ubuntu user rather than root

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🎛️ By Default the display of Docker container is through ssh system

• But If you want GUIs to render directly on the host’s physical screen instead, you need to match the host’s DISPLAY

sudo nano /etc/systemd/system/rover_jazzy_docker.service 
Environment="DISPLAY=:1"

• Make sure DISPLAY matches the host value:

echo $DISPALY

• Restart the startup service

sudo systemctl daemon-reload
sudo systemctl restart rover_jazzy_docker.service