RVIZ docker

Dockerfile.testing

@@ -0,0 +1,14 @@
+# This image is based on the ros2 images and contains RVIZ2 for debugging.
+FROM duna-nomad-base
+
+# Clone rviz2 humble, build and clean up.
+RUN printf 'repositories:\n ros2/rviz:\n  type: git\n  url: https://github.com/ros2/rviz.git\n  version: humble' > ${ROS_EXTRA_ROOT}/rviz2.repo && \
+  cd ${ROS_EXTRA_ROOT} && mkdir src && vcs import src < rviz2.repo && \
+  apt update && source ${ROS_BASE_INSTALL} && rosdep install -y --from-paths src --ignore-src && \
+  source ${ROS_BASE_INSTALL} && colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release && \
+  echo "source ${ROS_EXTRA_ROOT}/install/setup.bash" >> /root/.bashrc && \
+  rm -rf ${ROS_EXTRA_ROOT}/src && \
+  rm -rf /var/lib/apt/lists/* && \
+  apt-get autoremove -y && apt-get clean
+
+ENV DISPLAY=:0

README.md

@@ -4,3 +4,17 @@ This repository contains the tools for generating a docker image for developing
 ## Commands
 `docker build . -t duna-nomad-base` for Jetson
 `docker build . -t duna-nomad-base -f Dockerfile.amd64` for x86
+`docker build . -t duna-nomad-base-testing -f Dockerfile.testing`
+
+
+## Running the test container.
+The test container has rviz2 installed. To use it, we have to stream GUI apps to the host.
+Reference: https://janert.me/guides/running-gui-applications-in-a-docker-container/
+
+Allow connection to Xserver
+1. (on host): `xhost +local:`
+
+Run image with bind mounts.
+
+2. (on host) `docker run --rm --net host -v /tmp/.X11-unix:/tmp/.X11-unix -it duna-nomad-base-testing`
+