CaBot utilizes docker containers to run and manage various kinds of packages.
- the containers will mount the home directory (see docker-compose files).
../tools/setup-thirdparty-repos.shwill 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
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 |
| Image | From | Additional Layers | ROS functions |
|---|---|---|---|
| ble_scan/wifi_scan | focal-noetic-base-mesa | dependency | Bluetooth/Wi-Fi scanning |
people context has a Dockerfile for jeston named Dockerfile.jetson
People context has a Dockerfile for PC without NVIDIA GPU named Dockerfile.nuc, which runs people/queue packages excluding people detection.
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|