ROS 2 Development Container for the TurtleBot4

You want to get started with ROS 2 and the Turtlebot 4, however you don't want to upgrade your main OS to Ubuntu 22.04? This repository contains a setup that uses a Docker container as an isolated environment for ROS 2 development.

Features

• GPU support
• Display forwarding
• VS Code configuration
  • ROS 2 approved formatters
  • Pre-defined tasks
  • Debugging setup
• Basic continuous integration (CI) setup

Credits

This repository is based on public template from Allison Thackston for a generic ROS 2 Dev-Container setup.

Set Up

1. Install Docker and VS Code
2. Install the VS Code Dev-Containers Extension.
3. If you have a Nvidia GPU, install the NVIDIA Container Toolkit to get GPU acceleration inside the container. Instructions can be found here.
4. Open VS Code press F1 and use Dev Containers: Open Folder in Container. Or use the pop up in the lower right corner.

Note

• The Docker image is quite larage (around 7.5GB), keep that in mind when deleting, downloading or rebuilding the image.
• The Container has evelated privileges for performing networking administration. This gives the container control over the hosts network stack.

Versioning

The Docker image with the latest tag is rebuilt weekly, to frequently incoperate updates. This may cause instabilities. For a stable version, choose an image based on a release and update it in devcontainer.json:

{
"image": "ghcr.io/dfki-ni/turtlebot4_dev_container:[tag]",
}

TODOs

• Provide setup scripts for the discovery server setup.
• Does WSL work?