43.使用docker创建pibot ros环境

docker 安装可以参考官方链接按照提示一步一步操作可
对于ubuntu

# 删除旧版本 sudo apt-get remove docker docker-engine docker.io containerd runc
sudo apt-get update
sudo apt-get install ca-certificates curl gnupg lsb-release
curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo gpg --dearmor -o /usr/share/keyrings/docker-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/docker-archive-keyring.gpg] https://download.docker.com/linux/ubuntu 
  $(lsb_release -cs) stable" | sudo tee /etc/apt/sources.list.d/docker.list > /dev/null

sudo apt-get update
sudo apt-get install docker-ce docker-ce-cli containerd.io

添加docker权限,给当前用户,使docker命令免sudo执行

sudo groupadd docker 
sudo gpasswd -a ${USER} docker 
sudo service docker restart 

执行完成后只需要退出登出当前用户再重新登入即可，或者直接重启
执行docker ps 无异常即可

• pull image

 docker pull registry.cn-hangzhou.aliyuncs.com/pibot/pibot:melodic

• confirm

❯ docker images
REPOSITORY                                      TAG       IMAGE ID       CREATED          SIZE
registry.cn-hangzhou.aliyuncs.com/pibot/pibot   melodic   a08b09485640   3 days ago       3.09GB

• 启动上面的docker镜像
• 同时把pibot_ros目录映射的容器里
• 同时可以选择把串口设备映射到容器

如下面命令

docker run --rm -it -v "${HOME}/pibot_ros:/root/pibot_ros" 
                    --name pibot 
                    --device /dev/rplidar:/dev/rplidar 
                    --device /dev/pibot:/dev/pibot 
                    registry.cn-hangzhou.aliyuncs.com/pibot/pibot:melodic /bin/bash

在上面的终端或这个执行docker exec -it pibot bash启动新的终端进入容器

cd ~/pibot_ros
# 配置pibot相关参数类型
./pibot_init_env.sh -m apollo -b stm32f1 -l rplidar -c none -a localhost
source ~/.bashrc
# 编译
cd ~/pibot_ros/ros_ws/ && catkin_make

• 执行docker exec -it pibot bash启动新的终端进入容器输入pibot_gmapping打开gmapping slam
• 执行docker exec -it pibot bash启动新的终端进入容器输入pibot_control打开控制终端即可控制pibot小车

配置的这个docker容器是无法启动图形界面的，如pibot_view启动rviz是无法启动的

root@45f1d3a89920:~# rosrun rviz rviz
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
qt.qpa.screen: QXcbConnection: Could not connect to display 
Could not connect to any X display

我们可以配置多级通讯的方法，在宿主机启动rviz

容器中我们通过命令查看可以看到

eth0: flags=4163  mtu 1500
        inet 172.17.0.2  netmask 255.255.0.0  broadcast 172.17.255.255
        ether 02:42:ac:11:00:02  txqueuelen 0  (Ethernet)
        RX packets 79  bytes 13851 (13.8 KB)
        RX errors 0  dropped 0  overruns 0  frame 0
        TX packets 0  bytes 0 (0.0 B)
        TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0

lo: flags=73  mtu 65536
        inet 127.0.0.1  netmask 255.0.0.0
        loop  txqueuelen 1000  (Local Loopback)
        RX packets 0  bytes 0 (0.0 B)
        RX errors 0  dropped 0  overruns 0  frame 0
        TX packets 0  bytes 0 (0.0 B)
        TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0

root@45f1d3a89920:~/pibot_ros# ./pibot_view_env.sh 
PIBOT_ENV_INITIALIZED:   1
SYS_DIST:                bionic
ROS_DIST:                melodic
ROS_MASTER_URI:          http://172.17.0.2:11311
ROS_IP:                  172.17.0.2
ROS_HOSTNAME:            172.17.0.2
PIBOT_MODEL:             apollo
PIBOT_LIDAR:             rplidar
PIBOT_BOARD:             stm32f1
PIBOT_3DSENSOR:          none
*****************************************************************

宿主机中的ifconfig可以看到docker的网卡ip是172.17.0.1

❯ ifconfig
docker0: flags=4163  mtu 1500
        inet 172.17.0.1  netmask 255.255.0.0  broadcast 172.17.255.255
        inet6 fe80::42:c9ff:feca:591a  prefixlen 64  scopeid 0x20
        ether 02:42:c9:ca:59:1a  txqueuelen 0  (Ethernet)
        RX packets 65597  bytes 4695797 (4.6 MB)
        RX errors 0  dropped 0  overruns 0  frame 0
        TX packets 136671  bytes 205180802 (205.1 MB)
        TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0

enp2s0: flags=4099  mtu 1500
        ether 44:8a:5b:59:f3:9d  txqueuelen 1000  (Ethernet)
        RX packets 0  bytes 0 (0.0 B)
        RX errors 0  dropped 0  overruns 0  frame 0
        TX packets 0  bytes 0 (0.0 B)
        TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0

lo: flags=73  mtu 65536
        inet 127.0.0.1  netmask 255.0.0.0
        inet6 ::1  prefixlen 128  scopeid 0x10
        loop  txqueuelen 1000  (Local Loopback)
        RX packets 3414  bytes 382515 (382.5 KB)
        RX errors 0  dropped 0  overruns 0  frame 0
        TX packets 3414  bytes 382515 (382.5 KB)
        TX errors 0  dropped 0 overruns 0  carrier 0  collisions 0

我们只需要在宿主机设置ROS_MASTER_URI指向容器中的地址**172.17.0.2**，我们可以使用pibot提供的脚本pibot_init_env.sh配置,配置后可以查看当前配置如下

 ~/pibot_ros  v2.0.0 *2 ?1  ./pibot_view_env.sh                                 ✔    11:56:02 
PIBOT_ENV_INITIALIZED:   1
SYS_DIST:                bionic
ROS_DIST:                melodic
ROS_MASTER_URI:          http://172.17.0.2:11311
ROS_IP:                  172.17.0.1
ROS_HOSTNAME:            172.17.0.1
PIBOT_MODEL:             apollo
PIBOT_LIDAR:             rplidar
PIBOT_BOARD:             stm32f1
PIBOT_3DSENSOR:          none

这样我们在主机端输入pibot_view就可以启动rviz了