ROS2 Docker Development Environment

This repository contains a Docker-based development environment for ROS2 Humble, specifically configured for macOS with Apple Silicon (M1/M2) processors.

Prerequisites

Docker Desktop for Mac

1. Download Docker Desktop from https://www.docker.com/products/docker-desktop
2. Install Docker Desktop
3. Start Docker Desktop and wait for it to be running (you'll see the whale icon in your menu bar)

Understanding ARM64 vs AMD64

• ARM64 (aarch64): Used by Apple Silicon (M1/M2) Macs
• AMD64 (x86_64): Used by Intel/AMD processors and Intel-based Macs

To check your Mac's architecture:

uname -m

• If it shows arm64, you have an Apple Silicon Mac
• If it shows x86_64, you have an Intel-based Mac

This matters because:

1. ROS2 packages need to match your system architecture
2. Running AMD64 containers on ARM64 requires emulation (slower)
3. Our Dockerfile is configured for ARM64 to ensure native performance

Project Structure

ros2_docker_dev/
├── Dockerfile          # Container configuration
├── docker-compose.yml  # Container orchestration
├── .dockerignore      # Files to exclude from build
└── workspace/         # Your ROS2 workspace
    └── src/          # Source code directory

Basic Setup

1. Clone this repository:

git clone <repository-url>
cd ros2_docker_dev

2. Build the Docker image:

docker-compose build

3. Start the container:

docker-compose up -d

4. Enter the container:

docker exec -it ros2_docker bash

Testing Basic Setup

Inside the container, you can test ROS2 with the demo nodes:

1. Open two terminal windows
2. In the first terminal (talker):

ros2 run demo_nodes_py talker

3. In the second terminal (listener):

ros2 run demo_nodes_py listener

You should see messages being published and received between the nodes.

GUI Support (Optional)

Understanding GUI Support in Docker

Docker containers are isolated environments that don't have direct access to your system's display. To run GUI applications (like RViz2) from within a container, we use a web-based VNC solution (noVNC) that provides a virtual display and allows you to access it through your web browser.

This approach:

• Works reliably on all platforms, including Apple Silicon Macs
• Doesn't require XQuartz or other X11 forwarding setup
• Provides a secure, web-based interface to the container's display

Setting Up GUI Support

1. Rebuild the container with GUI support:

   docker-compose down
   docker-compose build
   docker-compose up -d

2. Access the web interface:

   • Open http://localhost:6080/vnc.html in your web browser
   • Enter the VNC password (default is "password" unless you set VNC_PASSWORD)
   • Click "Connect"

3. Test the setup:

   docker exec -it ros2_docker bash
   rviz2

Performance Considerations

• The virtual display uses software rendering, which can be CPU-intensive
• Default resolution is 1024x768 to balance performance and usability
• If you experience high CPU usage:
  • Close RViz2 when not in use
  • Use a lower resolution by modifying the Xvfb command in start.sh
  • Consider using headless mode for non-interactive tasks

Customizing the Setup

You can customize the VNC password by setting the VNC_PASSWORD environment variable:

echo "VNC_PASSWORD=your_secure_password" > .env
docker-compose up -d

Common Issues and Solutions

1. Docker Desktop not running

   • Ensure Docker Desktop is running (whale icon in menu bar)
   • Try restarting Docker Desktop

2. Permission issues

   • Docker Desktop needs full disk access on macOS
   • Check System Preferences → Security & Privacy → Privacy → Full Disk Access

3. Network issues

   • Ensure Docker Desktop has network access
   • Check Docker Desktop settings → Resources → Network

4. GUI issues

   • If noVNC page doesn't load:
     • Check if container is running: docker ps
     • Verify port 6080 is accessible: curl localhost:6080
     • Check container logs: docker logs ros2_docker
   • If VNC connection fails:
     • Verify VNC password is correct
     • Check if port 5901 is accessible
     • Try refreshing the browser page
   • If RViz2 is slow or unresponsive:
     • Reduce display resolution in start.sh
     • Close other resource-intensive applications
     • Consider using headless mode for non-interactive tasks

Development Workflow

1. Your local workspace directory is mounted to /root/ros2_ws in the container
2. Create new ROS2 packages in workspace/src
3. Build packages using colcon build inside the container
4. Source your workspace: source /root/ros2_ws/install/setup.bash

Stopping the Environment

1. Exit the container:

exit

2. Stop the container:

docker-compose down

Additional Resources

• ROS2 Documentation
• Docker Documentation
• ROS2 Tutorials