docker-ros2

Description

Setup a turtlebot3 with ros2 in a clean raspberry pi SD card. Include a docker container with docker network mode "host"

Prerequisite

It is better if you have a private docker registry to pull from pre-build image. Currently 192.168.16.205:5000. If you want to add yours, modify host-installation.sh and docker-compose.yaml, or simply build docker image locally.

installation

1. Setup a turtlebot3 hardware with raspberry pi 4

   (pi 3 Model B+ will crash after ros2 launch turtlebot3_bringup robot.launch.py, while it is the default board used by turtlebot3 waffle_pi. issue #546)

2. Start from a clean OS image. Use BalenaEther to Flash Raspberry Pi 3 (64-bit ARM) preinstalled server image to SD card

3. Setup WiFi

   1. Create config file and start to edit.

      $ sudo touch /etc/netplan/01-netcfg.yaml

      $ sudo nano /etc/netplan/01-netcfg.yaml

   2. Write following content into /etc/netplan/01-netcfg.yaml:

      network:
          version: 2
          renderer: networkd
          ethernets:
              eth0:
                  dhcp4: yes
                  dhcp6: yes
                  optional: true
          wifis:
              wlan0:
                  dhcp4: yes
                  dhcp6: yes
                  access-points:
                      "YOUR_WIFI_NAME":
                          password: "YOUR_WIFI_PASSWORD"

      WiFi FLUX 2.4 is preffered, while FLUX-2F-HINET2.4G is not stable and frequently disconnected

      Note that raspberry pi 4 WiFi doesn't support 5G (while the official document says it support 🙄)

   3. Apply all configuration for the renderers, and then restart Raspberry Pi 4.

      1. Apply all configuration for the renderers

         $ sudo netplan apply

      2. Set the systemd to prevent boot-up delay even if there is no network at startup.

         $ sudo systemctl mask systemd-networkd-wait-online.service

      3. Restart Raspberry Pi 4

         $ reboot

   From now, you can use SSH. Refer to Connect Remote PC to SBC

4. Copy host-installation.sh and docker-compose.yaml from this respository to Raspberry Pi 4. (If you don't want to pull image from your private docker registry, please copy Dockerfile and entrypoint.sh and edit docker-compose.yaml to build locally)

5. Configure Raspberry Pi 4, setup OpenCR rule and install docker

   $ sudo bash /YOUR_PATH/host-installation.sh

6. Start the service

   $ docker-compose up

Trouble Shooting

Fail when running host-installation.sh

If you encounter

crash E: Could not get lock /var/lib/dpkg/lock – open (11: Resource temporarily unavailable)
E: Unable to lock the administration directory (/var/lib/dpkg/), is another process using it?

There are probably a daily system updating your package. You can check by ps aux | grep -i apt.

If there is the daily update, just wait for it complete, and do the remaining task in installation.sh