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Docker

Prerequisites

  • Install Docker
    • On macOS and Windows, Docker Desktop is recommended.
    • On Linux, install Docker Engine via your distribution’s package manager.

Building and Running

  1. Clone this repository (if you haven’t already) so you have the local workspace on your machine.
  2. Go to the docker/ folder in the repository.
  3. Build the Docker image:
cd docker
./build.sh

This will create (and load) the Docker image locally, tagged by default as auv-image:latest.

  1. Run the container:
./run.sh
  • This starts an interactive container using the just-built image.
  • Your local repository is mounted into /ros_ws inside the container, so any changes on your host machine are instantly visible in the container. Once you’re in the container’s shell, you can navigate to /ros_ws and run ROS 2 commands as usual. For instance:
cd /ros_ws
colcon build
colcon test
ros2 launch my_package my_launch_file.launch.py

Because your local workspace is mounted, the generated build/, log/, and install/ folders remain on your host:

ros_ws/
│── build/
│── log/
│── install/
│── src/
│   └── vortex-auv/
│   └── vortex-msgs/

This setup ensures that code changes on your host are immediately reflected in the container, and any builds done inside the container are accessible back on your host.