Docker¶

Docker Basic Commands¶

Hello world
$ docker run hello-world
Manage images
$ docker image <options>
List images
$ docker images
Build an image from a Dockerfile
$ docker build <option> <Dockerfile>
Run a container
$ docker run <image>
List container
$ docker ps

Start one or more stoped container

$ docker start <options> <container> <container ..>

Run a command in a running container

$ docker exec <option> <container ID> <command>

Stop one or more containers
```
$ docker stop <options> <containers>
```
Kill one or more containers
```
$ docker kill <containers ID>
```

Writing first Dockerfile¶

Create necessary files.

$ mkdir my_first_docker && cd my_first_docker
$ touch Dockerfile
$ touch docker-compose.yml
$ touch ros_entrypoint.sh
$ chmod +x ros_entrypoint.sh

Edit Dockerfile.

ARG ROS_DISTRO=melodic
FROM ros:${ROS_DISTRO}-robot

ENV DEBIAN_FRONTEND noninteractive

RUN apt-get update && apt-get install -y --no-install-recommends \
    ros-${ROS_DISTRO}-perception-pcl \
    && rm -rf /var/lib/apt/lists/*

# setup entrypoint
ENV ROS_DISTRO ${ROS_DISTRO}
RUN mkdir -p /usr/local/bin/scripts
COPY *entrypoint.sh /usr/local/bin/scripts/
RUN  chmod +x /usr/local/bin/scripts/*.sh

ENTRYPOINT ["/ros_entrypoint.sh"]
CMD ["bash"]

Edit docker-compose.yml.

version: '3'

services:
    ros-melodic-base:
        build:
            context: .
            args:
                - ROS_DISTRO=melodic
        image: ros-melodic-base
        stdin_open: true
        tty: true
        privileged: true
        network_mode: "host"
        volumes:
            - /tmp/.X11-unix:/tmp/.X11-unix:ro
            - /dev/shm:/dev/shm
            - /dev/*:/dev/*
        environment:
            - DISPLAY=$DISPLAY
        entrypoint: /usr/local/bin/scripts/ros-entrypoint.sh
        command: bash -c "top"

Edit ros_entrypoint.sh

#!/bin/bash
set -e
# setup ros2 environment
source "/opt/ros/$ROS_DISTRO/setup.bash"
exec "$@"

Docker build.

$ docker-compose up --build