ROS2 docker(1)

로봇팔 작동을 위해 urdf파일을 작성하는데 성공했지만 ubuntu 20.04 ros2 foxy 버전에서는 moveit2가 지원하지 않는다는 것을 깨닫고 docker를 설치하기로 했다.

# Add Docker's official GPG key:
sudo apt-get update
sudo apt-get install ca-certificates curl
sudo install -m 0755 -d /etc/apt/keyrings
sudo curl -fsSL https://download.docker.com/linux/ubuntu/gpg -o /etc/apt/keyrings/docker.asc
sudo chmod a+r /etc/apt/keyrings/docker.asc

# Add the repository to Apt sources:
echo \
  "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/docker.asc] https://download.docker.com/linux/ubuntu \
  $(. /etc/os-release && echo "$VERSION_CODENAME") 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 docker-buildx-plugin docker-compose-plugin

sudo docker run hello-world

sudo docker images

누군가의 흔적이 남아있다.

 

ubuntu 22.04, ros2 humble버전을 깔기 위해 cuda 및 cudnn이 설치되어있는 버전으로 docker image를 pull했다.

실패함

그냥 gpt에서 가르쳐주는대로 깔기로함

도커 이미지 다운받고 docker 컨테이너 실행

docker pull ubuntu:22.04
docker run -it --name my-ubuntu-22.04 ubuntu:22.04

# 컨테이너 내부에서 아래 명령어 실행
apt update && apt install -y locales && locale-gen en_US.UTF-8
export LANG=en_US.UTF-8
export LC_ALL=en_US.UTF-8

# ROS 2 Humble 설치를 위한 필요한 패키지 설치
apt install -y software-properties-common && add-apt-repository universe
apt update && apt install -y curl gnupg2 lsb-release

# ROS 2 GPG 키 추가
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.key | apt-key add -

# ROS 2 패키지 리포지토리 추가
echo "deb http://repo.ros2.org/ubuntu/main jammy main" >> /etc/apt/sources.list.d/ros2-latest.list

# 패키지 업데이트 및 ROS 2 설치
apt update
apt install -y ros-humble-desktop

# ROS 2 환경 설정
echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
source ~/.bashrc

W: Target Packages (stable/binary-amd64/Packages) is configured multiple times in /etc/apt/sources.list:58 and /etc/apt/sources.list.d/docker.list:1
W: Target Packages (stable/binary-all/Packages) is configured multiple times in /etc/apt/sources.list:58 and /etc/apt/sources.list.d/docker.list:1
W: Target Translations (stable/i18n/Translation-en_US) is configured multiple times in /etc/apt/sources.list:58 and /etc/apt/sources.list.d/docker.list:1
W: Target Translations (stable/i18n/Translation-en) is configured multiple times in /etc/apt/sources.list:58 and /etc/apt/sources.list.d/docker.list:1
W: Target DEP-11 (stable/dep11/Components-amd64.yml) is configured multiple times in /etc/apt/sources.list:58 and /etc/apt/sources.list.d/docker.list:1
W: Target DEP-11 (stable/dep11/Components-all.yml) is configured multiple times in /etc/apt/sources.list:58 and /etc/apt/sources.list.d/docker.list:1
W: Target DEP-11-icons-small (stable/dep11/icons-48x48.tar) is configured multiple times in /etc/apt/sources.list:58 and /etc/apt/sources.list.d/docker.list:1
W: Target DEP-11-icons (stable/dep11/icons-64x64.tar) is configured multiple times in /etc/apt/sources.list:58 and /etc/apt/sources.list.d/docker.list:1
W: Target DEP-11-icons-hidpi (stable/dep11/icons-64x64@2.tar) is configured multiple times in /etc/apt/sources.list:58 and /etc/apt/sources.list.d/docker.list:1
W: Target CNF (stable/cnf/Commands-amd64) is configured multiple times in /etc/apt/sources.list:58 and /etc/apt/sources.list.d/docker.list:1
W: Target CNF (stable/cnf/Commands-all) is configured multiple times in /etc/apt/sources.list:58 and /etc/apt/sources.list.d/docker.list:1
W: Target Packages (main/binary-amd64/Packages) is configured multiple times in /etc/apt/sources.list.d/ros2-latest.list:1 and /etc/apt/sources.list.d/ros2.list:1
W: Target Packages (main/binary-all/Packages) is configured multiple times in /etc/apt/sources.list.d/ros2-latest.list:1 and /etc/apt/sources.list.d/ros2.list:1
W: Target Translations (main/i18n/Translation-en_US) is configured multiple times in /etc/apt/sources.list.d/ros2-latest.list:1 and /etc/apt/sources.list.d/ros2.list:1
W: Target Translations (main/i18n/Translation-en) is configured multiple times in /etc/apt/sources.list.d/ros2-latest.list:1 and /etc/apt/sources.list.d/ros2.list:1
W: Target DEP-11 (main/dep11/Components-amd64.yml) is configured multiple times in /etc/apt/sources.list.d/ros2-latest.list:1 and /etc/apt/sources.list.d/ros2.list:1
W: Target DEP-11 (main/dep11/Components-all.yml) is configured multiple times in /etc/apt/sources.list.d/ros2-latest.list:1 and /etc/apt/sources.list.d/ros2.list:1
W: Target DEP-11-icons-small (main/dep11/icons-48x48.tar) is configured multiple times in /etc/apt/sources.list.d/ros2-latest.list:1 and /etc/apt/sources.list.d/ros2.list:1
W: Target DEP-11-icons (main/dep11/icons-64x64.tar) is configured multiple times in /etc/apt/sources.list.d/ros2-latest.list:1 and /etc/apt/sources.list.d/ros2.list:1
W: Target DEP-11-icons-hidpi (main/dep11/icons-64x64@2.tar) is configured multiple times in /etc/apt/sources.list.d/ros2-latest.list:1 and /etc/apt/sources.list.d/ros2.list:1
W: Target CNF (main/cnf/Commands-amd64) is configured multiple times in /etc/apt/sources.list.d/ros2-latest.list:1 and /etc/apt/sources.list.d/ros2.list:1
W: Target CNF (main/cnf/Commands-all) is configured multiple times in /etc/apt/sources.list.d/ros2-latest.list:1 and /etc/apt/sources.list.d/ros2.list:1
W: Target Packages (stable/binary-amd64/Packages) is configured multiple times in /etc/apt/sources.list:58 and /etc/apt/sources.list.d/docker.list:1
W: Target Packages (stable/binary-all/Packages) is configured multiple times in /etc/apt/sources.list:58 and /etc/apt/sources.list.d/docker.list:1
W: Target Translations (stable/i18n/Translation-en_US) is configured multiple times in /etc/apt/sources.list:58 and /etc/apt/sources.list.d/docker.list:1
W: Target Translations (stable/i18n/Translation-en) is configured multiple times in /etc/apt/sources.list:58 and /etc/apt/sources.list.d/docker.list:1
W: Target DEP-11 (stable/dep11/Components-amd64.yml) is configured multiple times in /etc/apt/sources.list:58 and /etc/apt/sources.list.d/docker.list:1
W: Target DEP-11 (stable/dep11/Components-all.yml) is configured multiple times in /etc/apt/sources.list:58 and /etc/apt/sources.list.d/docker.list:1
W: Target DEP-11-icons-small (stable/dep11/icons-48x48.tar) is configured multiple times in /etc/apt/sources.list:58 and /etc/apt/sources.list.d/docker.list:1
W: Target DEP-11-icons (stable/dep11/icons-64x64.tar) is configured multiple times in /etc/apt/sources.list:58 and /etc/apt/sources.list.d/docker.list:1
W: Target DEP-11-icons-hidpi (stable/dep11/icons-64x64@2.tar) is configured multiple times in /etc/apt/sources.list:58 and /etc/apt/sources.list.d/docker.list:1
W: Target CNF (stable/cnf/Commands-amd64) is configured multiple times in /etc/apt/sources.list:58 and /etc/apt/sources.list.d/docker.list:1
W: Target CNF (stable/cnf/Commands-all) is configured multiple times in /etc/apt/sources.list:58 and /etc/apt/sources.list.d/docker.list:1
W: Target Packages (main/binary-amd64/Packages) is configured multiple times in /etc/apt/sources.list.d/ros2-latest.list:1 and /etc/apt/sources.list.d/ros2.list:1
W: Target Packages (main/binary-all/Packages) is configured multiple times in /etc/apt/sources.list.d/ros2-latest.list:1 and /etc/apt/sources.list.d/ros2.list:1
W: Target Translations (main/i18n/Translation-en_US) is configured multiple times in /etc/apt/sources.list.d/ros2-latest.list:1 and /etc/apt/sources.list.d/ros2.list:1
W: Target Translations (main/i18n/Translation-en) is configured multiple times in /etc/apt/sources.list.d/ros2-latest.list:1 and /etc/apt/sources.list.d/ros2.list:1
W: Target DEP-11 (main/dep11/Components-amd64.yml) is configured multiple times in /etc/apt/sources.list.d/ros2-latest.list:1 and /etc/apt/sources.list.d/ros2.list:1
W: Target DEP-11 (main/dep11/Components-all.yml) is configured multiple times in /etc/apt/sources.list.d/ros2-latest.list:1 and /etc/apt/sources.list.d/ros2.list:1
W: Target DEP-11-icons-small (main/dep11/icons-48x48.tar) is configured multiple times in /etc/apt/sources.list.d/ros2-latest.list:1 and /etc/apt/sources.list.d/ros2.list:1
W: Target DEP-11-icons (main/dep11/icons-64x64.tar) is configured multiple times in /etc/apt/sources.list.d/ros2-latest.list:1 and /etc/apt/sources.list.d/ros2.list:1
W: Target DEP-11-icons-hidpi (main/dep11/icons-64x64@2.tar) is configured multiple times in /etc/apt/sources.list.d/ros2-latest.list:1 and /etc/apt/sources.list.d/ros2.list:1
W: Target CNF (main/cnf/Commands-amd64) is configured multiple times in /etc/apt/sources.list.d/ros2-latest.list:1 and /etc/apt/sources.list.d/ros2.list:1
W: Target CNF (main/cnf/Commands-all) is configured multiple times in /etc/apt/sources.list.d/ros2-latest.list:1 and /etc/apt/sources.list.d/ros2.list:1

 

도중에 또 이런 에러가 떴다. source.list 파일과 /etc/apt/sources.list.d/ 내에서 동일한 패키지 소스를 정의했기 때문이란다..

sudo nano /etc/apt/sources.list

 

sources.list을 열어 밑에 줄과 같은 부분을 삭제하거나 주석 처리를 했다.

deb [arch=amd64] https://download.docker.com/linux/ubuntu focal stable

 

그다음  아래 코드도 실행시켜 중복된 부분을 삭제시켜줬다.

sudo nano /etc/apt/sources.list.d/ros2-latest.list
sudo nano /etc/apt/sources.list.d/ros2.list

 

또 apt install ros-humble-desktop 설치중에 밑에 줄과 같은 에러가 뜨는데

E: Unable to locate package ros-humble-desktop

 

밑에 focal부분을 humble로 바꿔줘야한다.

cat /etc/apt/sources.list.d/ros2-latest.list
deb http://repo.ros2.org/ubuntu/main focal main

정상적으로 설치된 것을 볼 수 있었다.

 

간단한 publisher, subscriber를 실행시켜보기 위해

다른 터미널에서도 도커에 접속해야한다.

docker ps
docker exec -it <container_id> /bin/bash

 

그런데 x11오류 뜨면서 gui관련된 것들이 오류가 나기 시작했다.

도저히 해결이 안되어서 다시 설치했다.

docker run -it \
  -e DISPLAY=$DISPLAY \
  -v /tmp/.X11-unix:/tmp/.X11-unix \
  --net=host \
  my-ubuntu-22.04

이런식으로 미리 x11환경설정을 해줘야 하나보다.

이후 튜토리얼에 따라 moveit2를 깔아주니까

https://moveit.picknik.ai/main/doc/tutorials/getting_started/getting_started.html

Getting Started — MoveIt Documentation: Rolling documentation

 

이번에는!!

ros2 launch moveit2_tutorials demo.launch.py

떴다!!!!!!!!!