ROS2-Desktop-Full Gui

shell
xhost + && sudo docker run -it --rm --net=host -v /dev:/dev -v $HOME/.Xauthority:/root/.Xauthority:ro -e DISPLAY=unix$DISPLAY osrf/ros:humble-desktop-full

ROS2-Desktop Cli

bash
# talker
docker run -it --rm osrf/ros:humble-desktop ros2 run demo_nodes_cpp talker
# listener
docker run -it --rm osrf/ros:humble-desktop ros2 run demo_nodes_cpp listener

docker-compose.yml

yml
version: '2'

services:
  talker:
    image: osrf/ros:humble-desktop
    command: ros2 run demo_nodes_cpp talker
  listener:
    image: osrf/ros:humble-desktop
    command: ros2 run demo_nodes_cpp listener
    depends_on:
      - talker

micro-ROS Agent in Docker

bash
# UDPv4 micro-ROS Agent
sudo docker run -it --rm --net=host microros/micro-ros-agent:$ROS_DISTRO udp4 --port 8888 -v6

# Serial micro-ROS Agent
sudo docker run -it --rm -v /dev:/dev  --privileged --net=host microros/micro-ros-agent:$ROS_DISTRO serial -b 115200 --dev [YOUR BOARD PORT] -v6

# TCPv4 micro-ROS Agent
sudo docker run -it --rm --net=host microros/micro-ros-agent:$ROS_DISTRO tcp4 --port 8888 -v6

# CAN-FD micro-ROS Agent
sudo docker run -it --rm -v /dev:/dev --privileged --net=host microros/micro-ros-agent:$ROS_DISTRO canfd --dev [YOUR CAN INTERFACE] -v6

拉取 arm64 架构镜像

shell
docker pull --platform=arm64

导出镜像

shell
docker save osrf/ros:humble-desktop-full | pigz -9 -p 16 > humble-desktop-full.tgz
**```**