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Development Using Docker

This document describes how to develop using Docker.

Prerequisites

  • Docker : Installation of Docker & authentication with a PAT (Personal Access Token)

Docker Container for Development

Run

Run the Docker container:

$ cd <path_to_roboconDiffBot>
$ docker run -it -d --name mttros2 -v $(pwd):/ros_ws -p 8080:8080 ghcr.io/mittechteam/mtt-ros2-dev

Open the browser and go to http://localhost:8080/vnc.html.

Setup VSCode for Development

Install Extensions

Install the following extensions:

Attach to the running container:

  • Open the Command Palette (Ctrl+Shift+P)
  • Select Dev Containers: Attach to Running Container...
  • Select the running container mttros2

Compiling ROS2 workspace

inside the docker container open a terminal and run the following commands:

Build

Build the ROS2 workspace:

$ colcon build --symlink-install

Source

Source the ROS2 workspace:

$ source install/setup.bash

Run

Run the ROS2 workspace:

$ ros2 run <package_name> <executable_name>