WRoverSoftware_Docker

Docker environment running Ubuntu 22.04 with ROS 2 Humble and Python dependencies.

Used for software development for Wisconsin Robotics.

Requirements

• Install WSL2 if on Windows.

  IMPORTANT: All terminal commands should run in the WSL terminal on Windows.

• Install and configure Git, then generate an SSH key for GitHub (see Git and CI/CD training).

• Install Docker Desktop on Windows or Docker Desktop on Mac.

• Install make on Windows in a (WSL) terminal:

  sudo apt update && sudo apt install -y make

  Install make on Mac by installing Xcode Command Line Tools.

Setup

Workspace setup

• Create a workspace directory.

• Enter the workspace directory, then clone this repository.

  git clone git@github.com:WisconsinRobotics/WRoverSoftware_Docker.git

Adding other GitHub repositories

• Make sure the repository is cloned into the workspace.

• Set the repository as a safe directory for Git:

  git config --global --add safe.directory /root/workspace/<repo-name>

• For example:

  git config --global --add safe.directory /root/workspace/WRoverSoftware_26-27

Build

• Open a terminal in this directory and enter:

  docker build -t wrover .

• If running into permission issues, see this post.

Run

• Once the Docker image has been built, it does not need to be rebuilt every time.

  Rebuild only when Dockerfile or requirements.txt changes.

• To run, open a terminal in this directory and enter:

  make run

• To exit, enter exit in the same terminal.

Misc

Visual Studio Code setup

• Download VS Code.

• Run code . in the workspace.

• Install the Dev Containers VS Code extension.

  

• Run the container in a separate terminal and attach the container through the extension by clicking the right arrow next to the wrover container under Dev Containers.

  

• To disconnect, click the bottom left corner, click Close Remote Connection, then shut down the container.

  

  

Adding python packages

• Add the python package(s) in requirements.txt, one package per line.

  For consistency, it's best to specify the package version, for example, depthai==3.1.0.

• After adding the package(s), rebuild the Docker container:

  docker build -t wrover .

• To push changes, create a new branch and open a PR (see Git and CI/CD training).