docker-ros2

What problem does it solve?

Docker for ROS 2 development and deployment standardizes environments, reduces setup time, and ensures reproducible builds for ROS 2 projects.

Core Features & Use Cases

• Base Images: ros:jazzy, ros:rolling desktop/perception variants for development and testing.
• Development Dockerfile: demonstrates installing system dependencies, creating a workspace, and building with colcon.
• Multi-Stage Production Build: separates build and runtime stages to minimize image size and surface only needed artifacts.
• Docker Compose for Multi-Container Robots: coordinates hardware, navigation, perception, and GUI components in a single stack.
• GUI Support: guidance for X11 display forwarding to run RViz/rqt in containers.
• GPU Access (NVIDIA): use --gpus and NVIDIA toolkit for GPU-accelerated workloads.
• Networking: configuration for DDS discovery across containers and host networks.
• Hardware Device Access: pass through devices like cameras and sensors into containers.
• ARM & cross-architecture builds: setup for multi-arch builds using QEMU.
• Development Workflow with Bind Mounts: mount source directories for live editing and rapid iteration.

Quick Start

Use this skill to containerize your ROS 2 workspace by starting a container with ros:jazzy and mounting your source directory.