alexandrosnic / ros2_webots_docker

A docker that installs ROS2 and Webots

Webots and ROS2 Installation docker

A ROS2 Foxy (docker) setup with all the required dependencies for this project (and it will be updated on the go), coupled with Webots simulator R2022a in an Ubuntu 20.04 environment. The setup may work with or without GPU (follow the corresponding guidelines).

Prerequisites

Install the following dependencies for your system:

• git, make and docker
• docker-compose
• docker-nvidia2 if on a GPU-accelerated system
• Xserver
  • For Ubuntu: xhost +local:* or xhost +local:docker (for docker) on Terminal
  • For Mac: e.g. XQuartz. To install and configure it, follow this tutorial

Set Up Docker containing ROS2 & Webots

After completing this section, you are able to run ROS2 and Webots in a docker container.

1. Run docker daemon and add yourself to docker group

   sudo systemctl enable docker.service
   sudo systemctl start docker.service
   sudo usermod -aG docker $USER

2. Start the XServer:

   • For Ubuntu: xhost +local:* or xhost +local:docker (for docker) on Terminal
   • For Mac: e.g. XQuartz. To install and configure it, follow this tutorial.

3. Create a new workspace ros_ws and source ros_ws/src directory

   mkdir -p ~/ros_ws/src

4. Clone this repository to ros_ws/src/docker

   git clone https://github.com/alexandrosnic/ros2_webots_docker.git ~/ros_ws/src/docker

5. Run provisioning script

   cd ~/ros_ws/src/docker
   make devel

6. Wait for the provisioning script to finish

7. Acces the environment from any terminal window

   docker exec -it ccbts-devel bash