ROS 2 Node Docker Compose Service

This repository contains a docker compose project to define a singular ROS2 node running as a docker compose service.

Getting Started

Prerequisites

This requires the following tools reinstalled and configured before proceeding:

• Docker
• GNU Make

Building the Docker service/image

1. Clone the repository and submodules:

git clone <repo uri>
cd ros2_service
git submodule update --init

2. Build the Docker image using the provided Dockerfile:

make build

Running the service

1. To run the docker compose service use the provided make target:

make start 

and to stop it:

make stop

Configuring the service

The entrypoint or service can be defined in the docker compose. To change the service/node entrypoint modify the docker-compose.yaml and change the following lines:

  - ROS_PACKAGE_NAME=<desired package>
  - ROS_NODE_NAME=<desired node name>

Adding custom ROS2 packages

To add a custom package add it as a submodule to the ros2_ws/src directory:

cd ros2_ws/src && git submodule add <repository uri>

You may need to modify the Dockerfile to add specific system dependencies to build your node.

Adding system dependencies via APT and Python3 PIP

System dependencies defined in files with the name: requirements.system for APT.

To add dependencies create a file called requirements.system in your package and add the dependencies to the file, one per line. For an example see: ros2_ws/src/hello_world/requirements.system

System dependencies defined in files with the name: requirements.pip3 for Python3 PIP.

To add dependencies create a file called requirements.pip3 in your package and add the dependencies to the file, one per line. For an example see: ros2_ws/src/hello_world/requirements.pip3

All APT and Python3 PIP dependencies will be automatically installed with make build