- Docker Installation
# Install Docker using convenience script curl -fsSL https://get.docker.com -o get-docker.sh sudo sh ./get-docker.sh # Post-install configuration sudo groupadd docker sudo usermod -aG docker $USER sudo systemctl enable docker.service sudo systemctl enable containerd.service # Verify installation sudo systemctl is-enabled docker
Reboot before proceeding further
GHCR Authentication
echo "<YOUR_GITHUB_PAT>" | docker login ghcr.io -u <YOUR_GITHUB_USERID> --password-stdin- VSCode
- Remote Development Extension by Microsoft (Inside VSCode)
- Create a folder for Husky development
mkdir husky_ws && cd husky_ws # Clone the repo git clone https://github.com/RoboticsIIITH/husky_ws.git . # Open VSCode code .
- To enter the container
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Open Command Pallete with
Ctrl+Shift+P -
Select Dev Containers: Reopen in Container
-
Use
Build WSbutton to build workspace
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- Launch
sudo chmod +777 /dev/ttyUSB0 roslaunch husky_base base.launch- Optionally, you can plug a joystick and teleop the robot.
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To permanently add any ROS APT packages, list them in the rosPkgs.list file, then rebuild the Docker image using:
docker build -t ghcr.io/rtarun1/husky_base -f .devcontainer/Dockerfile .devcontainer -
Always run
sudo apt updateinside the container before installing any additional packages. -
For Docker-related questions or issues, feel free to open an issue on the DockerForROS2Development
- This Docker setup was adapted from Soham's repository.
- If you use this repository for your project or publication, please consider citing or acknowledging Tarun, Soham, Official Husky.