Docker ROS2 Humble

Dockerfile to run ROS2 Humble with CUDA capabilities for computer vision. This can/will be updated according to new needs of the TFC team. At the moment it is able to run YOLO with a ZED camera. We recommend the use of a docker extension, such as the one on VSCode, for further container handling.

Pre-requisites

• Install Docker Setup -> just press next and install on the Docker installation
• If you are using Windows, install WSL2
• CUDA Toolkit version 12.1 or 12.4 (12.4 is recommended)
• For linux, run the following lines:

sudo apt update
sudo apt install x11-xserver-utils
xhost +local:docker

Script Procedure

• Run the lin script (tested in Linux and WSL2)

No Script Procedure

• Download the docker file
• On the directory where the docker file is, open a terminal (not a wsl one) and write:

docker build -t <name_you_want_to_give_to_the_image> .

• Open xLaunch and select the display number as 0 and proceed with the pre-selected things
• Create on the same directory as the Dockerfile a directory /share/catkin_ws/src
• Create the container as follows:

If you are using Linux or WSL2:

docker run --name <name_you_want_to_give_to_the_container> --privileged --gpus all -v /dev:/dev -it -v "<your_ros2_ws_path>:/opt/share/ros2_ws" -env="DISPLAY" --env="QT_X11_NO_MITSHM=1" --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" <name_of_your_image>