ROS2与docker入门教程-windows桌面显示docker中turtlesim

文章说明

• 介绍如何在windows中使用docker里的turtlesim
• 环境：windows + mobaxterm， ubuntu + docker

安装和启动docker

• 相关软件安装，参考文章
• 相关镜像安装，参考文章

# 安装
docker pull osrf/ros:humble-desktop

# 启动
docker run -it osrf/ros:humble-desktop

• 启动docker之后，可以输入ros2查看是否正常启动

ubuntu@AiROS2-NUC:~$ ros2
usage: ros2 [-h] Call `ros2 <command> -h` for more detailed usage. ...

ros2 is an extensible command-line tool for ROS 2.

optional arguments:
  -h, --help            show this help message and exit

Commands:
  action     Various action related sub-commands
  bag        Various rosbag related sub-commands
  component  Various component related sub-commands
  daemon     Various daemon related sub-commands
  doctor     Check ROS setup and other potential issues
  interface  Show information about ROS interfaces
  launch     Run a launch file
  lifecycle  Various lifecycle related sub-commands
  multicast  Various multicast related sub-commands
  node       Various node related sub-commands
  param      Various param related sub-commands
  pkg        Various package related sub-commands
  run        Run a package specific executable
  security   Various security related sub-commands
  service    Various service related sub-commands
  topic      Various topic related sub-commands
  wtf        Use `wtf` as alias to `doctor`

  Call `ros2 <command> -h` for more detailed usage.

下载工具

• 下载工具mobaxterm，地址
• 利用mobaxterm远程登录到安装了docker的ubuntu系统

桌面显示

• 确保安装 mobaxterm windows电脑和安装docker的ubuntu电脑在同一个网络下
• windows ip：192.168.0.16
• ubuntu ip：192.168.0.42
• 通过mobaxterm登录ubuntu系统，启动docker中的turtlesim
• 执行命令

# 启动docker镜像
docker run -it --privileged \
           -v /tmp/.X11-unix:/tmp/.X11-unix  \
           -e DISPLAY=192.168.0.16:0 osrf/ros:humble-desktop
# 启动小乌龟 
ros2 run turtlesim turtlesim_node

• mobaxterm会询问是否显示界面在windows中，确认后，出现小乌龟的界面

• 通过mobaxterm登录ubuntu系统，启动docker中的键盘控制

• 执行命令

# 启动docker镜像
docker run -it --privileged \
           -v /tmp/.X11-unix:/tmp/.X11-unix  \
           -e DISPLAY=192.168.0.16:0 osrf/ros:humble-desktop
# 启动键盘控制
ros2 run turtlesim turtle_teleop_key

• 通过键盘的方向键就可以控制小乌龟移动，根据你网络情况，移动可能很慢。

演示

• 相关软件已经安装，镜像已经下载，演示具体操作