WiROS-Docker

This repo contains the instructions to use Docker images of WiROS and the relavant tools. The images contain pre-built environment and repository necessary for WiROS deployment, offering a more user-friendly usage of the setup.

Installation and Setup

Step 1: Install Docker

• Follow the instructions from Install Docker Engine on Ubuntu

  • The summary of commands to install is below:

    1. (Optional) Uninstall all conflicting packages

    for pkg in docker.io docker-doc docker-compose docker-compose-v2 podman-docker containerd runc; do sudo apt-get remove $pkg; done
    

    2. Set up Docker's apt repository

    # Add Docker's official GPG key:
    sudo apt-get update
    sudo apt-get install ca-certificates curl
    sudo install -m 0755 -d /etc/apt/keyrings
    sudo curl -fsSL https://download.docker.com/linux/ubuntu/gpg -o /etc/apt/keyrings/docker.asc
    sudo chmod a+r /etc/apt/keyrings/docker.asc
    
    # Add the repository to Apt sources:
    echo \
    "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/docker.asc] https://download.docker.com/linux/ubuntu \
    $(. /etc/os-release && echo "$VERSION_CODENAME") stable" | \
    sudo tee /etc/apt/sources.list.d/docker.list > /dev/null
    sudo apt-get update
    

    3. Install the latest Docker packages

    sudo apt-get install docker-ce docker-ce-cli containerd.io docker-buildx-plugin docker-compose-plugin
    

    4. (Optional) Verify the installation

    sudo docker run hello-world
    

Step 2: Pull the Image from Docker Hub

1. Login on Docker Hub

   sudo docker login    
   

2. Find the image of the right platform of your device from this page

   • hint use lscpu to find your hardware architecture

3. Pull the corresponding image (E.g. wiros-arm-v7)

   sudo docker pull zhh013/wiros-arm-v7
   

Step 3: Run the image (E.g. wiros-arm-v7)

1. Run the image in a interative terminal and host network mode

   sudo docker run -it --name=YOUR_CONTAINER_NAME --network=host zhh013/wiros-arm-v7
   

2. Follow the instructions to use WiROS. WiROS workspace is compiled and ready-to-use under root directory.

   • E.g.

     cd ~/wiros/src/wiros_csi_node/launch/  
     roslaunch basic.launch
     

   • Hint: remember to configure your .launch file and emacs is installed.