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Julian Arkenau
Oct 5, 2023
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ROS 2 Development Container for the TurtleBot4

You want to get started with ROS 2 and the Turtlebot 4, however you don't want to upgrade your main OS to Ubuntu 22.04? This repository contains a setup that uses a Docker container as an isolated environment for ROS 2 development.

Features

  • GPU support
  • Display forwarding
  • VS Code configuration
    • ROS 2 approved formatters
    • Pre-defined tasks
    • Debugging setup
  • Basic continues integration setup

Credits

This repository is based on public template from Allison Thackston for a generic ROS 2 Dev-Container setup.

Set Up

  1. Install Docker and VS Code
  2. Install the VS Code Dev-Containers Extension.
  3. If you have a Nvidia GPU, install the NVIDIA Container Toolkit to get GPU acceleration inside the container. Instructions can be found here.
  4. Open VS Code press F1 and use Dev Containers: Open Folder in Container. Or use the pop up in the lower right corner.

TODOs

  • Provide setup scripts for the discovery server setup.
  • Does WSL work?
  • Build docker image in CI and publish to container registry