ROS and Rocker: Turtlebot3

This repository contains the Dockerfile for the turtlebot3 simulation, using Rocker (Docker tool) and the docker base image noetic-desktop-full.

Ubuntu 22.04 LTS

1. Open a terminal and check if docker is installed:

   $ docker --version
   

   If it is not installed, you can install it as follows:

   $ sudo apt update && sudo apt install curl
   $ curl -fsSL https://get.docker.com -o get-docker.sh
   $ sudo sh get-docker.sh
   

   Add the user to the docker group:

   $ sudo usermod -aG docker $USER
   $ sudo newgrp docker
   

2. Nvidia drivers (Optional): This steps are optional and recomended if you have a nvidia graphics card in your computer/laptop.

   • Open Additional Drivers program and install the suggested nvidia driver, as it is shown in the image:
   • Restart the computer
   • Go to NVIDIA Container toolkit page and follow the steps shown in the image (ignore the optional step to use experimental packages):
   • And configure the Nvidia toolkit for docker and containerd:

Mac OS (M1/M2 chip)

Disclaimer: This process require to run with parallels desktop app which is a paid program, but have a trial with work good for 30 days. I'm not receiving any compensation for this recommendation. I just found it very useful for my work. If you have a better solution, I will be happy to hear it.

1. Install parallels desktop With Ubuntu:

   • Once parallels is installed in your OS, click on the "+" sign on the top right corner of the window and select "Install Windows or another OS from a DVD or image file".
   • Select Ubuntu with x86_64 emulation.
   • Proceed with the installation. Then Click on Download.

   Wait until parallels finishes installing Ubuntu. Once it is done, you should set a password for the user "parallels" and then log in.

2. Validate if docker is installed: Parallels comes with docker pre-installed. To validate if it is installed, open a terminal and run the following command:

   $ docker --version
   

   If it is not installed, you can install it as follows:

   $ sudo apt update && sudo apt install curl
   $ curl -fsSL https://get.docker.com -o get-docker.sh
   $ sudo sh get-docker.sh
   

   Add the user to the docker group:

   $ sudo usermod -aG docker $USER
   $ sudo newgrp docker
   

One you have docker and the Ubuntu Setup

3. Configure Rocker:

   • First ensure that the Ubuntu Universe repository is enabled.

     $ sudo apt update
     $ sudo apt install software-properties-common
     $ sudo add-apt-repository universe
     

   • Now add the ROS 2 GPG key with apt.

     $ sudo apt update && curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
     

   • Then add the repository to your sources list.

     echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
     

   • And install rocker:

     $ sudo apt-get install python3-rocker
     

4. Get source code:

   • Clone this repository in a specific path:

     $ git clone https://github.com/aldajo92/ROS_Rocker_Turtlebot3SimNoetic.git
     

   • Get submodules:

     $ cd ROS_Rocker_Turtlebot3SimNoetic
     $ git submodule update --init --recursive
     

5. Build and execute the docker image:

   $ ./scripts/build
   $ ./scripts/run_cpu # If you don't have nvidia graphics card
   $ ./scripts/run_nvidia # If you have nvidia graphics card configured with docker
   

You should see something as follows:

The above image has a configuration in the OS for the display with a resolution 2048x1152(16:9).

Autor

Alejandro Daniel Jose Gómez Flórez - @aldajo92