Docker hacks for quick and easy access to ROS2 (foxy, humble) and ROS1 (melodic, noetic) along with their GUI applications like Gazebo and rViz without the need for a local installation
docker
Linux
(not necessarily Debian-based)dialog
(optionally for interactive terminal UI)
- Make sure your system satisfies all the requirements. The installer script tries to remain distro-agnostic, thus does not install anything.
- Run the
installer.bash
script with a single argument with the rosez version you need to install. e.g../installer.bash ros2ez
. You can also run it interactively with no arguments. For ros-ez versions <1.7.0
, you must use one of theros_*installer.bash
scripts. There are multiple, one for each supported ROS distribution. - Run
. ~/.bashrc
or open a new terminal. - Run
ros2ez
for ROS2 Humble,ros2ezf
for ROS2 Foxy orrosez
for ROS1 Noetic androsezm
for ROS1 Melodic followed by the command you want to run else. If no command is provided you will be thrown in a shell inside the image (useful when autocomplete is required).
ros2ez ros2 run teleop_twist_keyboard teleop_twist_keyboard cmd_vel:=racer_01/cmd_vel
or
rosez rosrun rviz rviz
NVIDIA
users should install the nvidia-container-toolkit that massively boosts performance inside docker containers.- If you encounter errors regarding your graphics card while trying to run the
rosez
orros2ez
script, try adding thefi
orforce-integrated
flag, which will force usage of the integrated graphics card of your computer. This is, of course, not optimal, so update your drivers and try running the script again. Make sure that the flag is the first argument of your command. If this fails too, open an issue. For instance, the examples above can be executed with the integrated graphics card by runningros2ez fi ros2 run teleop_twist_keyboard teleop_twist_keyboard cmd_vel:=racer_01/cmd_vel
androsez fi rosrun rviz rviz
respectively. - You can change or add default workspaces by editing the
includes/ros*_ws.txt
file. One directory per line.
TODO
- EndeavourOS
- Fedora 35, 36, 39, 40, 41
- Ubuntu 22.04
- MX Linux 19.1
- Windows through WSL2 (experimental)
- X11
- Wayland
- Migrating from
v1.0.0
to newer versions will most probably introduce some permission issues, since newer versions try to stay inside the user's permissions instead of root. A chown of your workspace(s) to your user should fix the problem. - [For versions >=
v1.1.0
] User configurable and system files have been separated, so you (most probably) should not mess with theinternals
folder. - [For versions <=
v1.1.0
] Running multipleros*ez
commands concurrently (in separate terminals) can introduce race conditions, especially in workspace building (colcon (ROS2) or catkin (ROS1)). Refrain from runningros*ez
commands concurrently, but wait for build commands to finish. - [For versions >=
v1.2.0
] The new concurrency handling system allows for execution of multipleros*ez
commands concurrently (in separate terminals). The system uses lock files and tries to handle them effectively to avoid dangling ones. In the (rare?) case of a dangling lock file (essentially eternally waiting for a lock file to unlock), you should do one of the following solutions: The first one is to reboot your machine. The next time you boot up, your lock file will be older than your system's uptime, and be automatically removed. The second one is to use theclear-locks
orcl
flag duringros*ez
execution. Keep in mind that if you generally use theforce-integrated
orfi
flag, you willneed it here too. For instance, the next commands will remove ALL locks and then run the specified commandros2ez fi cl ros2 run teleop_twist_keyboard teleop_twist_keyboard cmd_vel:=racer_01/cmd_vel
or for ros1rosez cl fi rosrun rviz rviz
. Note that the order of the flags is not important, but have to be placed before the required ros command. - [For versions >=
v1.2.1
] Users are now able to use their local git configuration (ssh keys etc) and bloom release, from within the ros*ez environment. - [For versions >=
v1.2.2
] There was a problem that was introduced inv1.2.1
regarding volumes and permissions for user configuration files in ssh, git and bloom. It is now fixed. - [For versions >=
v1.2.3
] The installer script now checks if the user is in the docker group, and if not adds them and prompts for reboot at the end of the installation. - [For versions >=
v1.3.0
] A ROS Melodic version is now available (with therosezm
command) and a much more robust locking mechanism is now in effect. If you experienced frequent lockouts or race conditions, this version should be more stable. - [For versions >=
v1.4.0
] All supported ROS versions (melodic/noetic/humble) now work on a completely persistent filesystem to save apt, library and other installations + all other user-defined changes on the container. Additionally, this version also supports audio, enabling users to play sounds through therosez
containers. - [For versions >=
v1.5.0
] Thesc
orskip-compilation
flag is now supported, which completely bypasses rosdep and catkin/colcon builds for faster startup. - [For versions >=
v1.6.0
] A ROS2 Foxy version is now available (with theros2ezf
command). Its image comes with built-inros1_bridge
support for ez ROS1-ROS2 integration. - [For versions >=
v1.6.1
] A deletion script has been included inside theinternal/deeper/
folder. It takes the version-to-delete as an argument. For example,bash delete_version.bash ros2ezf
deletes the Foxy version for rosez. - [For versions >=
v1.7.0
] A new script to easily create systemd services was added. It can be used interactively usingdialog
or non-interactively by passing it 9 arguments. Running thecreate_rosez_systemd_service.bash
with less than 9 args (but more than 0) will trigger a help message. Additionally the installation scripts have been merged into one,installer.bash
. You can now use it interactively, or pass a single argument with the rosez version you need to install. e.g../installer.bash ros2ez
- [For versions >=
v2.0.0
] Docker devices like sound and graphics are now manually handled. This version is NOT the same as the previous ones. This is a pretty substantial change, thus getting a major release. Externally nothing should change for the end user, but internally a lot has changed. OSRF'srocker
is no longer utilized, making docker handling more versatile (but also fragile). - [For versions >=
v2.0.1
] Sound integration is now working normally. The bug was introduced inv2.0.0
. - [For versions >=
v2.0.2
] Simplification of the systemd service generation. - [For versions >=
v2.1.0
] First attempt to use (runtime) host folders instead of saving them on volumes (for /mnt, /run, /sys). - [For versions >=
v2.2.0
] Fixed a bug that surfaced on newer kernels running old distros regarding soft and hard nofile (ulimit). - [For versions >=
v2.3.0
]:- The
rosez*
containers are now handled in a more optimised way. This is achieved by running the container once and then using exec to access a shell. This should solve (most of?) the conflicts in packages install/not found on different shells. - Introduced a the
kill-container
orkc
flag to forcefully kill therosez*
container. - Now sharing
/media
between host and container. - Fixed a bug that occured when the output of the build command was too long.
- Accidentally, a new bug for ROS1 was introduced in this release. It is fixed in
v2.5.0
.
- The
- [For versions >=
v2.4.0
] Added support for ROS2 Jazzy. NOTE: Theros2ez
command has now been disabled, since currently two ROS2 LTS versions are supported. ROS2 Humble can now been used with theros2ezh
command, following the typicalrosez*
/ros2ez*
scheme. WARNING: This versions breaks humble installations. In order to migrate, your best bet is to renameros2ez-volume*
volumes to their equivalentros2ezh-volume*
. Accidentally, a new bug for ROS1 was introduced in this release. It is fixed inv2.5.0
. - [For versions >=
v2.5.0
] Added rust support for all ROS distributions. Also, fixed bug #79 that was introduced inv2.3.0
. - [For versions >=
v2.5.1
] Now deleting all problematic locks instead of just the oldest and fixed #85 (exec locks daemon bug). - [For versions >=
v2.5.2
] Fixed a bug that was introduced inv2.4.0
whererosez
androsezm
could get mixed up when used simultaneously (issue #88). - [For versions >=
v2.5.3
] Added the ability to distinguish betweencatkin_make
andcatkin build
workspaces in ROS1. Also, now using theRelWithDebInfo
flag for all build commands.