Skip to content

ROS Docker Images for humble and jazzy

Humble

Jazzy

TBD

Humble

Humble base

  • ros-base
  • build tools
  • ros build tools
  • basic system utilities
  • add none-root user
Dockerfile ROS humble 
  1
  2
  3
  4
  5
  6
  7
  8
  9
 10
 11
 12
 13
 14
 15
 16
 17
 18
 19
 20
 21
 22
 23
 24
 25
 26
 27
 28
 29
 30
 31
 32
 33
 34
 35
 36
 37
 38
 39
 40
 41
 42
 43
 44
 45
 46
 47
 48
 49
 50
 51
 52
 53
 54
 55
 56
 57
 58
 59
 60
 61
 62
 63
 64
 65
 66
 67
 68
 69
 70
 71
 72
 73
 74
 75
 76
 77
 78
 79
 80
 81
 82
 83
 84
 85
 86
 87
 88
 89
 90
 91
 92
 93
 94
 95
 96
 97
 98
 99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
##############################################
# base on allision https://github.com/athackst/dockerfiles/blob/main/ros2/humble.Dockerfile
##############################################

###########################################
# Base image
###########################################
FROM ubuntu:22.04 AS base

ENV DEBIAN_FRONTEND=noninteractive

# Install language
RUN apt-get update && apt-get install -y --no-install-recommends \
  locales \
  && locale-gen en_US.UTF-8 \
  && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 \
  && rm -rf /var/lib/apt/lists/*
ENV LANG=en_US.UTF-8

# Install timezone
RUN ln -fs /usr/share/zoneinfo/UTC /etc/localtime \
  && export DEBIAN_FRONTEND=noninteractive \
  && apt-get update \
  && apt-get install -y --no-install-recommends tzdata \
  && dpkg-reconfigure --frontend noninteractive tzdata \
  && rm -rf /var/lib/apt/lists/*

RUN apt-get update && apt-get -y upgrade \
    && rm -rf /var/lib/apt/lists/*

# Install common programs
RUN apt-get update && apt-get install -y --no-install-recommends \
    curl \
    gnupg2 \
    lsb-release \
    sudo \
    software-properties-common \
    wget \
    && rm -rf /var/lib/apt/lists/*

# Install ROS2
RUN sudo add-apt-repository universe \
  && curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \
  && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null \
  && apt-get update && apt-get install -y --no-install-recommends \
    ros-humble-ros-base \
    python3-argcomplete \
  && rm -rf /var/lib/apt/lists/*

ENV ROS_DISTRO=humble
ENV AMENT_PREFIX_PATH=/opt/ros/humble
ENV COLCON_PREFIX_PATH=/opt/ros/humble
ENV LD_LIBRARY_PATH=/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib
ENV PATH=/opt/ros/humble/bin:$PATH
ENV PYTHONPATH=/opt/ros/humble/local/lib/python3.10/dist-packages:/opt/ros/humble/lib/python3.10/site-packages
ENV ROS_PYTHON_VERSION=3
ENV ROS_VERSION=2
ENV ROS_AUTOMATIC_DISCOVERY_RANGE=SUBNET
ENV DEBIAN_FRONTEND=
###########################################
#  Develop image
###########################################
FROM base AS dev

ENV DEBIAN_FRONTEND=noninteractive
RUN apt-get update && apt-get install -y --no-install-recommends \
  bash-completion \
  build-essential \
  cmake \
  gdb \
  git \
  openssh-client \
  python3-argcomplete \
  python3-pip \
  python-is-python3 \
  tmux \
  tmuxp \
  vim \
  && rm -rf /var/lib/apt/lists/*

RUN rosdep init || echo "rosdep already initialized"

ARG USERNAME=user
ARG USER_UID=1000
ARG USER_GID=$USER_UID

# Check if "ubuntu" user exists, delete it if it does, then create the desired user
RUN if getent passwd ubuntu > /dev/null 2>&1; then \
        userdel -r ubuntu && \
        echo "Deleted existing ubuntu user"; \
    fi && \
    groupadd --gid $USER_GID $USERNAME && \
    useradd -s /bin/bash --uid $USER_UID --gid $USER_GID -m $USERNAME && \
    echo "Created new user $USERNAME"

# Add sudo support for the non-root user
RUN apt-get update && apt-get install -y sudo \
  && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME\
  && chmod 0440 /etc/sudoers.d/$USERNAME \
  && rm -rf /var/lib/apt/lists/*



ENV AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS=1


# Install the full release
RUN apt-get update && apt-get install -y --no-install-recommends \
  ros-humble-ros-base \
  ros-humble-rmw-cyclonedds-cpp \
  ros-dev-tools \
  python3-colcon-clean \
  ros-humble-ament-* \
  && rm -rf /var/lib/apt/lists/*
ENV DEBIAN_FRONTEND=

# Set up autocompletion for user
RUN apt-get update && apt-get install -y --no-install-recommends git-core bash-completion \
  && echo "if [ -f /opt/ros/${ROS_DISTRO}/setup.bash ]; then source /opt/ros/${ROS_DISTRO}/setup.bash; fi" >> /home/$USERNAME/.bashrc \
  && echo "if [ -f /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash ]; then source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash; fi" >> /home/$USERNAME/.bashrc \
  && rm -rf /var/lib/apt/lists/*

  COPY .tmux.conf /etc/tmux.conf

Downloads

Build image
1
docker build -t humble:base -f Dockerfile.humble .

Jazzy

Jazzy base

  • base on cuda 12.4.0 ubuntu 24.04
  • ros-base
  • build tools
  • ros build tools
  • basic system utilities
  • add none-root user
  • gazebo bridge (harmonic)
Dockerfile ROS jazzy 
  1
  2
  3
  4
  5
  6
  7
  8
  9
 10
 11
 12
 13
 14
 15
 16
 17
 18
 19
 20
 21
 22
 23
 24
 25
 26
 27
 28
 29
 30
 31
 32
 33
 34
 35
 36
 37
 38
 39
 40
 41
 42
 43
 44
 45
 46
 47
 48
 49
 50
 51
 52
 53
 54
 55
 56
 57
 58
 59
 60
 61
 62
 63
 64
 65
 66
 67
 68
 69
 70
 71
 72
 73
 74
 75
 76
 77
 78
 79
 80
 81
 82
 83
 84
 85
 86
 87
 88
 89
 90
 91
 92
 93
 94
 95
 96
 97
 98
 99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
##############################################
# base on allision https://github.com/athackst/dockerfiles/blob/main/ros2/jazzy-cuda.Dockerfile
##############################################

###########################################
# Base image ver 0.1
###########################################
FROM nvidia/cuda:12.6.2-cudnn-runtime-ubuntu24.04 AS base

ENV DEBIAN_FRONTEND=noninteractive

# Install language
RUN apt-get update && apt-get install -y --no-install-recommends \
  locales \
  && locale-gen en_US.UTF-8 \
  && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8 \
  && rm -rf /var/lib/apt/lists/*
ENV LANG=en_US.UTF-8

# Install timezone
RUN ln -fs /usr/share/zoneinfo/UTC /etc/localtime \
  && export DEBIAN_FRONTEND=noninteractive \
  && apt-get update \
  && apt-get install -y --no-install-recommends tzdata \
  && dpkg-reconfigure --frontend noninteractive tzdata \
  && rm -rf /var/lib/apt/lists/*

RUN apt-get update && apt-get -y upgrade \
    && rm -rf /var/lib/apt/lists/*

# Install common programs
RUN apt-get update && apt-get install -y --no-install-recommends \
    curl \
    gnupg2 \
    lsb-release \
    sudo \
    software-properties-common \
    wget \
    && rm -rf /var/lib/apt/lists/*

# Install ROS2
RUN sudo add-apt-repository universe \
  && curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg \
  && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null \
  && apt-get update && apt-get install -y --no-install-recommends \
    ros-jazzy-ros-base \
    python3-argcomplete \
  && rm -rf /var/lib/apt/lists/*

################
# Expose the nvidia driver to allow opengl
# Dependencies for glvnd and X11.
################
RUN apt-get update \
 && apt-get install -y -qq --no-install-recommends \
  libglvnd0 \
  libgl1 \
  libglx0 \
  libegl1 \
  libxext6 \
  libx11-6

# Env vars for the nvidia-container-runtime.
ENV NVIDIA_VISIBLE_DEVICES=all
ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
ENV QT_X11_NO_MITSHM=1

ENV ROS_DISTRO=jazzy
ENV AMENT_PREFIX_PATH=/opt/ros/jazzy
ENV COLCON_PREFIX_PATH=/opt/ros/jazzy
ENV LD_LIBRARY_PATH=/opt/ros/jazzy/lib/x86_64-linux-gnu:/opt/ros/jazzy/lib
ENV PATH=/opt/ros/jazzy/bin:$PATH
ENV PYTHONPATH=/opt/ros/jazzy/local/lib/python3.12/dist-packages:/opt/ros/jazzy/lib/python3.12/site-packages
ENV ROS_PYTHON_VERSION=3
ENV ROS_VERSION=2
ENV ROS_AUTOMATIC_DISCOVERY_RANGE=SUBNET

RUN apt-get update && apt-get install -y --no-install-recommends \
  bash-completion \
  build-essential \
  cmake \
  gdb \
  git \
  openssh-client \
  python3-argcomplete \
  python3-pip \
  ros-dev-tools \
  python3-colcon-clean \
  ros-jazzy-ament-* \
  vim \
  ros-jazzy-rmw-cyclonedds-cpp \
  ros-jazzy-ros-gz-bridge \
  ros-jazzy-ros-gz-image \
  && rm -rf /var/lib/apt/lists/*

RUN rosdep init || echo "rosdep already initialized"

ARG USERNAME=user
ARG USER_UID=1000
ARG USER_GID=$USER_UID

# Check if "ubuntu" user exists, delete it if it does, then create the desired user
RUN if getent passwd ubuntu > /dev/null 2>&1; then \
        userdel -r ubuntu && \
        echo "Deleted existing ubuntu user"; \
    fi && \
    groupadd --gid $USER_GID $USERNAME && \
    useradd -s /bin/bash --uid $USER_UID --gid $USER_GID -m $USERNAME && \
    echo "Created new user $USERNAME"

# Add sudo support for the non-root user
RUN apt-get update && apt-get install -y sudo \
  && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME\
  && chmod 0440 /etc/sudoers.d/$USERNAME \
  && rm -rf /var/lib/apt/lists/*

# Set up autocompletion for user
RUN apt-get update && apt-get install -y --no-install-recommends git-core bash-completion \
  && echo "if [ -f /opt/ros/${ROS_DISTRO}/setup.bash ]; then source /opt/ros/${ROS_DISTRO}/setup.bash; fi" >> /home/$USERNAME/.bashrc \
  && echo "if [ -f /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash ]; then source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash; fi" >> /home/$USERNAME/.bashrc \
  && rm -rf /var/lib/apt/lists/*

ENV DEBIAN_FRONTEND=
ENV AMENT_CPPCHECK_ALLOW_SLOW_VERSIONS=1

COPY .tmux.conf /etc/tmux.conf

cuda version

Check host cuda version using nvidia-smi , I encountered problems if the docker image cuda version was higher

Downloads

Build image
1
docker build -t jazzy:base -f Dockerfile.jazzy .

usage

1
2
3
4
5
6
7
docker run --gpus all -it --rm \
--net host \
--name jazzy \
--hostname jazzy \
--user user \
jazzy:base \
/bin/bash