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1.通过项目中dockerfile文件,构建项目镜像

cd ~/work/ros_protobuf_msg/docker/build
docker build --network host -t ros_protobuf:noetic  -f ros_x86.dockerfile .

2.进入docker容器

cd ~/work/ros_protobuf_msg/docker/scripts
#启动容器
./ros_docker_run.sh
#进入容器
./ros_docker_into.sh

3.编译代码

#创建build目录
mkdir build
cd build
cmake ..
make -j6

4.启动程序

#先启动roscore,并且启动pb_talker节点
cd /work
source devel/setup.bash
roscore &
rosrun myproject pb_talker
#打开新终端,再次进入容器,启动pb_listener节点
#进入容器中
cd ~/work/ros_protobuf_msg/docker/scripts
#进入容器
./ros_docker_into.sh
rosrun myproject pb_listener

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  • C++ 93.6%
  • Python 4.1%
  • CMake 1.5%
  • Other 0.8%