How to build, start, run and exec this docker

1. Build

Firstly, we want to run build_n_run.sh (docker), or native.sh for Ubuntu-based distributions, and exit when it's done.

$ sh build_n_run.sh && exit

2. Start

2.1 To initialize the docker (after a boot,reboot, etc), we must give it initially display permissions.

$ xhost +

2.2 After that, we will start the docker container, then open it (execute):

$ docker start ros_humble
$ docker exec -ti ros_humble bash

Installation

 wget - o - https://raw.githubusercontent.com/Joao8bit/ros2_docker_rtabmap/refs/heads/jazzy/native.sh | bash && sh native.sh

Commands to run the simulation

Sourcing the workspace

source ~/ros_ws/install/setup.bash

Building the project (inside ~/ros_ws)

colcon build

LunaLab simulation

ros2 launch leo_gz_bringup leo_gz.launch.py sim_world:=~/ros_ws/src/leo_simulator-ros2/leo_gz_worlds/worlds/lunalab2024.sdf 

RTABMAP

ros2 launch rtabmap_livox rtabmap_livox.launch.py

RVIZ

rviz2

Control the LeoRover with teleop (keyboard or joystick options available, choose one)

ros2 launch leo_teleop key_teleop.launch.xml
ros2 launch leo_teleop joy_teleop.launch.xml #joy_dev:=/dev/input/jsX to choose joystick

Useful aliases for this project

alias luna_source='source ~/ros_ws/install/setup.bash'
alias luna_gazebo='ros2 launch leo_gz_bringup leo_gz.launch.py sim_world:=~/ros_ws/src/leo_simulator-ros2/leo_gz_worlds/worlds/lunalab2024.sdf'
alias luna_rtabmap='ros2 launch rtabmap_livox rtabmap_livox.launch.py'
alias joy_teleop='ros2 launch leo_teleop joy_teleop.launch.xml'
alias key_teleop='ros2 launch leo_teleop key_teleop.launch.xml'

Q&A

1. If I exit the docker or open another terminal, how do I start it again?

• Run the 'docker exec -ti ros_humble bash' command again.

2. My docker has stopped, how do I start it again?

• Run the commands from section 2 of this README.

3. I cannot launch any GUI applications!

• Exit the docker, and try running the 'xhost +' command again, it should fix things.

4. How can I stop it from working in the background?

• Exit the docker and stop it using:

$ docker stop ros_humble

Any other related questions please let me know privately or in the common communications chat!

April 16, 2025 Update 🤖

A migration to the latest LTS ROS2 version Jazzy is now complete, feel free to try out the Docker version or even natively.