@samuk
First of all, I would like to introduce myself. I was in charge of early mechanical design for Tuerlebot3.
I like the design of XRP you introduced.
I am happy to confirm that there are friends who are working together on an open platform for education and research.
why not use docker? you can use it with network=host to connect to network and there are already images with ubuntu and ros2. if you want anything with display it can be done too.
why use Docker? What does it offer that Virtualbox doesn’t?
OpenGL hardware acceleration (useful for Gazebo 11 Classic camera plugins). By using Podman/Docker on Linux, you can use podman run -e DISPLAY=$DISPLAY --device=/dev/dri (without sudo) or sudo docker run -e DISPLAY=$DISPLAY --device=/dev/dri to bind GPU into container.
Docker is much lighter than VirtualBox. Modifying the Docker image is also very convenient. You can create images for specific features/hardwares based on the same base image. Docker is also easier to manage and maintain. It is often used with CI/CD. That is, when you commit the code, the Docker image will be automatically compiled and the test will be run. Therefore, Docker is also used for deployment in many robotic products. If it is for educational use, you should not only teach students how to use ROS, but also teach them modern development tools and scientific practices.
I would also recommend docker, and more specifically using devcontainers to set up the environment for development. It lets you add a GUI desktop for any rviz / gazebo visualization using standard available features (desktop-lite) that makes the desktop GUI available through noVNC and you can set it up on cloud workstations as well if needed like github codespaces. Heres the repo if interested.
That looks interesting. However I got this error using your files. What should I do next?
sam@debian:~/Downloads/ros2-devcontainer-main/.devcontainer$ sh installation-script.sh
error: externally-managed-environment
× This environment is externally managed
╰─> To install Python packages system-wide, try apt install
python3-xyz, where xyz is the package you are trying to
install.
If you wish to install a non-Debian-packaged Python package,
create a virtual environment using python3 -m venv path/to/venv.
Then use path/to/venv/bin/python and path/to/venv/bin/pip. Make
sure you have python3-full installed.
If you wish to install a non-Debian packaged Python application,
it may be easiest to use pipx install xyz, which will manage a
virtual environment for you. Make sure you have pipx installed.
See /usr/share/doc/python3.11/README.venv for more information.
note: If you believe this is a mistake, please contact your Python installation or OS distribution provider. You can override this, at the risk of breaking your Python installation or OS, by passing --break-system-packages.
hint: See PEP 668 for the detailed specification.
Oh I think I should change the name of that script. The installation-sh script is run automatically as a part of the process that sets up the devcontainer environemnt. To get started using the devcontainer environment, it usually requires vscode and the devcontainer extension. You would have to then open the repo in vscode and then Ctrl+shift+p then click “Reopen in devcontainer” to build the environment and start.
To test the repo you can start a workspace on github codespaces instead to verify that you can get it running. You would need to use the no-GPU branch to get started though. Here is an article for some additional info.
There is usually a devcontainer build log after failure that opens up in vscode if the building process fails. Can you go provide that here ? also just for the sake of verification did you try building the main-noGPU branch on github codespaces to test ?
sudo apt-get install docker-ce docker-ce-cli containerd.io docker-buildx-plugin docker-compose-plugin
Reading package lists… Done
Building dependency tree… Done
Reading state information… Done
docker-ce is already the newest version (5:24.0.5-1~debian.12~bookworm).
docker-ce-cli is already the newest version (5:24.0.5-1~debian.12~bookworm). containerd.io is already the newest version (1.6.22-1).
docker-buildx-plugin is already the newest version (0.11.2-1~debian.12~bookworm).
docker-compose-plugin is already the newest version (2.20.2-1~debian.12~bookworm).
0 upgraded, 0 newly installed, 0 to remove and 10 not upgraded.
Oh okay I see the issue, I’ll add this info to the repo as well. The system is trying to mount cache/humble/build and the install + log directories to a folder inside the container. You don’t have these directories on your system before you try to build it. Or you could just comment this out from the devcontainer.json file and try to build again. it should be successful then.
WARNING: The script isympy is installed in '/home/uazam/.local/bin' which is not on PATH.
Consider adding this directory to PATH or, if you prefer to suppress this warning, use --no-warn-script-location.
WARNING: The script pygmentize is installed in '/home/uazam/.local/bin' which is not on PATH.
Consider adding this directory to PATH or, if you prefer to suppress this warning, use --no-warn-script-location.
WARNING: The script pyflakes is installed in '/home/uazam/.local/bin' which is not on PATH.
Consider adding this directory to PATH or, if you prefer to suppress this warning, use --no-warn-script-location.
WARNING: The script pydocstyle is installed in '/home/uazam/.local/bin' which is not on PATH.
Consider adding this directory to PATH or, if you prefer to suppress this warning, use --no-warn-script-location.
WARNING: The script pycodestyle is installed in '/home/uazam/.local/bin' which is not on PATH.
Consider adding this directory to PATH or, if you prefer to suppress this warning, use --no-warn-script-location.
WARNING: The script pylama is installed in '/home/uazam/.local/bin' which is not on PATH.
Consider adding this directory to PATH or, if you prefer to suppress this warning, use --no-warn-script-location.
WARNING: The scripts jupyter, jupyter-migrate and jupyter-troubleshoot are installed in '/home/uazam/.local/bin' which is not on PATH.
Consider adding this directory to PATH or, if you prefer to suppress this warning, use --no-warn-script-location.
WARNING: The scripts jupyter-kernel, jupyter-kernelspec and jupyter-run are installed in '/home/uazam/.local/bin' which is not on PATH.
Consider adding this directory to PATH or, if you prefer to suppress this warning, use --no-warn-script-location.
WARNING: The scripts ipython and ipython3 are installed in '/home/uazam/.local/bin' which is not on PATH.
Consider adding this directory to PATH or, if you prefer to suppress this warning, use --no-warn-script-location.
