ros2_config

Configuration files and docker containers for ros2

Usage with Docker

1. Setup environment: export ROS2_IP=10.24.x.x (add to .bashrc for convenience)
2. Build the container:

   cd docker/noble-ros2  # or noble-ros2-xeno for RT
   docker compose build --pull
   source setup.bash  # for the "ros2" alias (or setup-nvidia.bash ), add to .bashrc for convenience

3. Bootstrap: this will compile a forest_ws with all required software inside the container; the workspace is inside a mounted directory for persistent storage over container restart

   ros2
   ./bootstrap.sh

4. Run the container: ros2
5. Stop the container: docker stop <img-name> (use TAB for completion)

Usage with host machine

export ROS2_IP="10.24.x.x"  # if not in .bashrc already
mkdir build && cd build
cmake .. -DROS2_IP=$ROS2_IP  # this generates the xml file for CycloneDDS with the correct network address
sudo cmake --install . --component sysctl_rules  # install sysctl rules for optimized kernel configuration
sudo sysctl --system  # reload kernel configuration
cd ..
source dds/cyclonedds/setup.bash  # add to .bashrc for convenience