Docker Desktop Installation

1. Follow this command

# 1. 필수 패키지 설치
sudo apt-get update
sudo apt-get install -y ca-certificates curl gnupg lsb-release

# 2. Docker 공식 GPG 키 추가
sudo install -m 0755 -d /etc/apt/keyrings
curl -fsSL <https://download.docker.com/linux/ubuntu/gpg> | \\
  sudo gpg --dearmor -o /etc/apt/keyrings/docker.gpg

# 3. Docker 저장소 추가
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

# 4. 저장소 업데이트
sudo apt-get update

# 5. Docker 엔진 및 CLI 설치
sudo apt-get install -y docker-ce docker-ce-cli containerd.io docker-buildx-plugin docker-compose-plugin

# 6. 설치 확인
docker --version

xhost +local:docker

Run the Docker

1. Open terminal

2. Download the Ubuntu Image

   #Pure Ubuntu
   docker pull {ubuntu:version}
   #For ROS2
   docker pull osrf/ros:<ros_version>-desktop-full
   

3. Create and run a container from the image

   xhost +local:root
   docker run -it \\
     --privileged \\
     --env="DISPLAY=$DISPLAY" \\
     --env="QT_X11_NO_MITSHM=1" \\
     --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \\
     --volume="/dev/bus/usb:/dev/bus/usb" \\
     --network=host \\
     --gpus all \\
     --name CONTAINER_NAME \\
     DOCKER_IMAGE
   

• You can start created container by this:

docker start -ai {container_name}

• You can exit the terminal by this:

exit

• You have to stop the container by this:

docker stop {container_name}

• If you are already running the container and want to enter into the terminal of the container:

docker exec -it {container_name} bash

• Removing container

docker rm <container_id_or_name>

• Install Cyclone DDS (Optional)

# sudo apt install ros-foxy-rmw-cyclonedds-cpp

Conneting vscode