ros2dev 0.1.6

Basic Setup

Generate the Dockerfiles to build the base ROS 2.0 environment:

$ ros2dev generate

The generated files are placed in the ./generated directory by default. Along with the generated Dockerfile and docker-compose.yml files is a config.json file, which contains cached variables from the generate step.

Build the Docker image for the base ROS 2.0 environment:

$ ros2dev build

Step into the base ROS 2.0 environment:

$ ros2dev env

Run a single command in the ROS 2.0 environment:

$ ros2dev run -c "ros2 topic list"

Install Additional Dependencies

Since jinja2 is used to generate the Dockerfiles, a developer can extend the base Dockerfile by overriding the “third_party” block. An example is provided in this package at: ./src/ros2dev/templates/third_party.example. To generate a Dockerfile with an override, use the following command:

$ ros2dev generate -o ./src/ros2dev/templates/third_party.example

Then build the docker image:

$ ros2dev build

Build a ROS 2.0 Workspace

To build a ROS 2.0 development environment for a ROS workspace, navigate to the workspace root directory and run the following command:

$ ros2dev generate -w ./src -o ./third_party.dockerfile

By convention, there should be a src directory in the root of a ROS workspace, so we pass the path to the src directory to the -w (--ws_copy_dir) option. In this example, we are also using the override option (-o) to install additional dependencies before building the ROS workspace.

Now you can build the docker image for the ROS environment and step into the ROS environment:

$ ros2dev build
$ ros2dev env

0.2a1

Release date: UNRELEASED

• Example news entry for the in-development version

0.1

Release date: 15-Mar-2010

• Example news entry for a released version