Memo "Docker + ROS2 Galactic"

How to install "Docker Engine"

Instaling packages for Docker

sudo apt  update
sudo apt install ca-certificates curl gnupg lsb-release

sudo mkdir -p /etc/apt/keyrings
curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo gpg --dearmor -o /etc/apt/keyrings/docker.gpg
sudo chmod a+r /etc/apt/keyrings/docker.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/docker.gpg] https://download.docker.com/linux/ubuntu $(lsb_release -cs) stable" | sudo tee /etc/apt/sources.list.d/docker.list > /dev/null

sudo apt update

sudo apt install docker-ce docker-ce-cli containerd.io

Checking Docker Engine

sudo docker run hello-world

Setting authority of Docker Engine

sudo groupadd docker

sudo usermod -aG docker $USER

sudo chown $USER:$USER /home/$USER/.docker -R
sudo chmod g+rwx $HOME/.docker -R

sudo reboot

docker run hello-world

Setting ROS2 galactic

Running ROS 2 nodes in Docker [community-contributed] — ROS 2 Documentation: Galactic documentation

Above site is cited for creating environment ROS2 galactic

docker pull osrf/ros:galactic-desktop

 docker run -it osrf/ros:galactic-desktop

ros2 run demo_nodes_cpp listener

Activating X server

On host PC, Please use it below

xhost +

On Docker cintainer

export DISPLAY=:0

docker run -it --rm --network host -e DISPLAY=$DISPLAY osrf/ros:galactic-desktop