ROS2 Rust workshop docker.md

ROS2 Rust workshop using Docker

1. Install the Docker extension in VSCode.
2. Open a terminal and clone the current repository

    cd ~
    git clone [email protected]:roboticswithjulia/ros2_rust_workshop.git

3. Go to the repository and run the following lines:

    cd ~/ros2_rust_workshop
    xhost + local:root
    code .

4. Open a terminal in the vscode: Terminal -> New terminal
5. Generate the images and run the container.

    cd ~/ros2_rust_workshop/docker
    ./build_image.sh
    ./run_user.sh

Note: It will download a lot of things, it may take a while in a slow connection. It took about 3min in my moderate machine with 100mb internet connection.

6. Open the docker container using the docker vscode extension. Double click in the following icon:

   

7. Right button to the container ros2_rust_dev:latest -> Attach Visual Studio Code. A new vscode IDE will be opened, it is important to close the old one.

8. If the following image appears, select Open Workspace and search for /home/cuser/ros2_rust_workshop/

9. It is important to work in the vscode IDE where the container is running, it is indicated in the bottom left part of the IDE in green:

10. You can open a terminal '+' (Select Bash if it is not previously selected).

The terminal will be inside of docker, and you'll see you are user cuser@your-machine.

Everything you do will be saved in the folder of the project (your_path/ros2_rust_workshop) (but owned by the container user). You won't lose progress. If things break, remove from ros_ws : build, install, log. If it goes really bad, remove what is inside of src and start over.

Build inside docker

Build the workspace, about 3min30s in my moderate machine.

cd ~/ros2_rust_workshop/ros_ws
sudo apt-get update
rosdep update
rosdep install --from-paths src --ignore-src -r -y
source /opt/ros/humble/setup.sh
colcon build

Run

source install/setup.bash
ros2 launch champ_config gazebo.launch.py