otto_docker

A Ubuntu 24.04 docker container that has ROS 2 Jazzy.

Current Submodules:

• otto_hardware
• otto_bringup
• otto_description
• otto_navigation
• ros_colorsens_apds9960
• ros_fuelgauge_max17263
• ros_imu_lsm6dsv16x

Container Commands

Building the container:

docker build -t otto_docker:latest . <-- the dot is important!

Running the Container:

docker run -it --runtime=nvidia --net=host --ipc=host otto_docker

NOTE: There are aliases, dockerbuild and dockerrun for these commands on our Jetson Orin

Multi-user git + GitHub Configuration

I automated switching git + GitHub configuration files, ssh keys, and more. Here is how you get setup:

1.) Create SSH key:

Each user needs a different SSH key to use. Here is how to set one up:

Setting up an SSH Key:

• first generate the key using the command: ssh-keygen -t ed25519 -C "your_email@example.com"
• when prompted to, make sure you save it to the file path :~/.ssh/<your_firstname>_ssh (your firstname should be all lowercase!)
• start the ssh agent with eval "$(ssh-agent -s)"
• add the key to the agent `ssh-add ~/.ssh/<your_firstname>_ssh
• view your key by running cat ~/.ssh/<your_firstname>_ssh
• Copy your key and add it to GitHub

2.) Edit your git config file:

Within the hidden directory ~/.gitconfigs there are multiple files. Your file's name will follow the format .gitconfig_<initials>. You only have to fill out the rest of the fields that are commented out. Here is an example for reference:

[user]
	name = My Name
	email = myname@email.com

[core]
	sshCommand = ssh -i ~/.ssh/my_ssh

3.) Using the "CLI" Tool

Checking the current user: git-whoami
Switching to a different user: git-user-switch "firstname"