ROS2 in Docker From Scratch! - Learn to Write, Install, and Run ROS2 Packages in Docker From Scratch

#ros2 #docker #machinelearning #robotics #automation #industrialrobotics
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What is covered in this tutorial: In this tutorial, we explain how to create, compiler and run ROS2 packages in Docker containers. We explain how to perform these tasks from scratch. That is, we will start from zero and we will teach you how to create packages and how to properly embed them inside of Docker containers. We will then explain how to run packages by using the created Docker containers. This tutorial is based on ROS2 Humble, and everything explained in this tutorial can easily be generalized to ROS2 Jazzy or even other ROS2 versions. To illustrate the main ideas and not to blur them with too many ROS2 implementation issues, we will create a publisher and a subscriber ROS2 nodes and we will embed them inside of a package.

Motivation: In this tutorial, we present a minimal working example. Even this minimal working example is not trivial and it takes a significant amount of time and effort to properly implement it. The main motivation for creating this tutorial comes from the fact that online you will rarely find a tutorial explaining how to implement docker containers in ROS2 from scratch. Although there are a number of tutorials out there, our impression is that they are written for more advanced users and a number of crucial steps are either skipped or not implemented. In sharp contrast, in this tutorial, we thoroughly explain how to perform all the steps.

In this tutorial, we will write ROS2 nodes and a ROS2 package from scratch. After we write the package, we will explain how to write Docker and entry pointer files and how to embed everything inside of the container. We will also create a separate video tutorial that will start from cloning the nodes and packages. That tutorial will be for people who perfectly understand the process of creating packages in ROS2, and who just need to learn how to embed the packages inside of the Docker container.

Copyright notice: this manual and the lesson video should not be copied, redistributed, or publicly posted on public or private websites or social media platforms. This lesson files is the original work and the ownership of Aleksandar Haber. You have the right to use the provided code files and this lesson for personal educational use and they should not be posted on public or private code repositories. The code and the lesson should not be used for commercial purposes. The code files and the manual should not be used as a lecture material on online learning platforms and in official university courses. Without the permission of the author, this lesson, provided code files, and this manual should not be used to produce academic papers, student reports, or other documents. This lesson and the accompanying material should not be used to train an AI algorithm or a large language model.

[aleksandarhaber]

It takes a significant amount of time and energy to create these free video tutorials. You can support my efforts in this way:
- You Can also press the Thanks YouTube Dollar button