triorb-inc / l4t-ros2-docker

This is a Dockerfile to make ROS 2 environment(Ubuntu 22.04) on Jetson device.

l4t-ros2-docker

Introduction

This is a Dockerfile to make ROS 2 environment(Ubuntu 22.04) on Jetson device.
This Dockerfile is based on nvidia/container-images/l4t-base.

Requirements

• Docker
• nvidia-docker2

Build docker image

cd humble
docker build --build-arg UID=$(id -u) --build-arg GID=$(id -g) -t l4t-ros2:humble .

Launch docker container

xhost +
docker run -it --rm --net=host --runtime nvidia -e DISPLAY=$DISPLAY -v /tmp/.X11-unix/:/tmp/.X11-unix l4t-ros2:humble bash

Reference

• https://gitlab.com/nvidia/container-images/l4t-base
• https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html

Appendix

I tested on Jetson Orin NX 16GB.

demo_nodes_cpp

$ ros2 run demo_nodes_cpp talker
[INFO] [1683313006.304406217] [talker]: Publishing: 'Hello World: 1'
[INFO] [1683313007.304254294] [talker]: Publishing: 'Hello World: 2'
[INFO] [1683313008.304208091] [talker]: Publishing: 'Hello World: 3'
[INFO] [1683313009.304162780] [talker]: Publishing: 'Hello World: 4'
[INFO] [1683313010.304098489] [talker]: Publishing: 'Hello World: 5'

$ ros2 run demo_nodes_py listener
[INFO] [1683313006.326180969] [listener]: I heard: [Hello World: 1]
[INFO] [1683313007.306190692] [listener]: I heard: [Hello World: 2]
[INFO] [1683313008.306295810] [listener]: I heard: [Hello World: 3]
[INFO] [1683313009.306328576] [listener]: I heard: [Hello World: 4]
[INFO] [1683313010.306021672] [listener]: I heard: [Hello World: 5]

turtlesim

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