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naviton workflow

ros workflow ROS noetic image build

ros2 workflow ros2 workflow ros2 workflow

Ubuntu18.04 image build Ubuntu20.04 image build

YOLOX noetic image build

SLAM melodic image build

license size commit

rosenv

ROS environment construction
ROS1/ROS2向けのDocker Image

  • GPU,CUDA対応
  • Ethernet,USB接続のセンサー等も使用可能
  • bashスクリプトが自動生成されるのでコマンド1行でコンテナに入れる

Setup

1. git clone

git clone https://github.com/hrjp/rosenv

2. make container

# ROS1 melodic
./rosenv/docker/ros_melodic/run.bash

# ROS1 noetic
./rosenv/docker/ros_noetic/run.bash

# ROS2 foxy
./rosenv/docker/ros2_foxy/run.bash

# ROS2 galactic
./rosenv/docker/ros2_galactic/run.bash

# ROS2 humble
./rosenv/docker/ros2_humble/run.bash

# naviton env
./rosenv/docker/naviton_melodic/run.bash

# Ubuntu 20.04
./rosenv/docker/ubuntu20/run.bash

# YOLO v5
./rosenv/docker/yolo5/run.bash

# YOLOX with ROS1 noetic
./rosenv/docker/ubuntu20/run.bash

# LeGO-LOAM and hdl_graph_slam with ROS1 melodic
./rosenv/docker/slam_melodic/run.bash

container option

必要に応じて以下のオプションを指定する

Option Default Details
-g GPUを使用する
-r コンテナからexitした際にコンテナを自動消去する
-n CONTAINER_NAME コンテナの名前
-s SHARE_FOLDER_PATH コンテナ内部と共有するディレクトリのパス
rosbagをやデータを外部と共有する際に使用
(ex. shareフォルダを作ってから /home/$USER/share )

Option無しで実行 (GPU無し コンテナ名=naviton_melodic 共有フォルダ無し)

./rosenv/docker/naviton_melodic/run.bash

Optionの使用例 (GPU有り コンテナ名=naviton 共有フォルダ=/home/$USER/share)

./rosenv/docker/naviton_melodic/run.bash -g -n naviton -s /home/$USER/share

コンテナ作成後

exitしてコンテナの外に出るとhomeディレクトリにCONTAINER_NAME.bash (CONTAINER_NAMEは自分で作成したコンテナの名前)が生成されている

cd
./CONTAINER_NAME.bash

次回からは上記のスクリプトを実行すると自動でコンテナをスタートしてコンテナ内に入れる


CI/CD Workflow

Github repositories

Dockerhub repositories

graph TD

  subgraph GitHub
    subgraph rosenv
      docker/ros_melodic/Dockerfile
      docker/naviton_melodic/Dockerfile
    end
    subgraph naviton 
      docker/main/Dockerfile
      docker/develop/Dockerfile
    end
  end
  subgraph dockerhub
    subgraph hrjp/ros
      hrjp/ros:melodic_cudagl
    end
    subgraph hrjp/naviton
      hrjp/naviton:melodic_cudagl
      hrjp/naviton:melodic_main
      hrjp/naviton:melodic_develop
    end
  end
  
  docker/ros_melodic/Dockerfile-->|Auto build and push at 11 P.M.|hrjp/ros:melodic_cudagl
  hrjp/ros:melodic_cudagl-->docker/naviton_melodic/Dockerfile
  docker/naviton_melodic/Dockerfile-->|Auto build and push at 1 A.M.|hrjp/naviton:melodic_cudagl
  hrjp/naviton:melodic_cudagl-->docker/main/Dockerfile
  hrjp/naviton:melodic_cudagl-->docker/develop/Dockerfile
  docker/main/Dockerfile-->|Auto docker build and push at 3 A.M.|hrjp/naviton:melodic_main
  docker/develop/Dockerfile-->|Auto docker build and push at 3 A.M.|hrjp/naviton:melodic_develop
  
  click docker/ros_melodic/Dockerfile https://github.com/hrjp/rosenv/blob/main/docker/ros_melodic/Dockerfile
  click docker/naviton_melodic/Dockerfile https://github.com/hrjp/rosenv/blob/main/docker/naviton_melodic/Dockerfile
  click docker/main/Dockerfile https://github.com/hrjp/naviton/blob/main/docker/main/Dockerfile
  click docker/develop/Dockerfile https://github.com/hrjp/naviton/blob/main/docker/develop/Dockerfile
  
  click hrjp/ros:melodic_cudagl https://hub.docker.com/repository/docker/hrjp/ros
  click hrjp/naviton:melodic_cudagl https://hub.docker.com/repository/docker/hrjp/naviton
  click hrjp/naviton:melodic_main https://hub.docker.com/repository/docker/hrjp/naviton
  click hrjp/naviton:melodic_develop https://hub.docker.com/repository/docker/hrjp/naviton
  
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