docker

Docker configuration for CaBot

CaBot utilizes docker containers to run and manage various kinds of packages.

Files

• the containers will mount the home directory (see docker-compose files).
• ../tools/setup-thirdparty-repos.sh will import third party packages into mostly under workspaces or docker contexts

- home/
  - .ros/         - ROS home
    - log/        - ROS log files
  - loc_ws        - workspace for localization
  - people_ws     - workspace for people
  - people_nuc_ws - workspace for people (without people detection)
  - ros2_ws       - workspace for ros2
- localization    - localization docker context
- people          - people docker context
- prebuild        - docker contexts for base images
- ros2            - ros2 docker context
- server          - docker context for local map service server
- timezone        - for adjusting timezone of the docker image
- uid             - for adjusting docker image uid
- vscode          - for development

Main Docker Images

There are docker image context directory for the following five images

Image	From	Additional Layers	ROS functions
ros2	jummy-humble	debug tools	Nav2
people	jammy-cuda11.7.1	OpenCV, Open3D, Realsense	people detection and tracking, queue detector
people-nuc	jummy-humble	dependencies	queue detector, people tracking
localization	jummy-humble	Cartographer	localization, RF signal scan
rtk-gnss	jummy-humble	GNSS	outdoor localization
server	ubuntu:focal	Open Liberty	map service server

Utility Images

Image	From	Additional Layers	ROS functions
ble_scan/wifi_scan	focal-noetic-base-mesa	dependency	Bluetooth/Wi-Fi scanning

Image for Jetson

people context has a Dockerfile for jeston named Dockerfile.jetson

Image for NUC

People context has a Dockerfile for PC without NVIDIA GPU named Dockerfile.nuc, which runs people/queue packages excluding people detection.

Prebuild Docker Images

In prebuild directory, there are some docker image contexts for base images for main images.

Image	Note
_jammy-humble-*	Base image for the docker without GPU process
_jammy-cuda11.7.1-*	Base image for the docker with GPU process

|Prebuild|Note| |cv|OpenCV and Open3D| |docker_images|for humble| |humble-custom|additional packages for humble| |jetson-humble-base-src|additional packages for humble on Jetson| |mesa|packages for display| |opengl|packages for display| |vcs|install ros2 build tools|