Docker for Robotics

Docker - What and Why

What is Docker?
- A VM is a way to simulate a computer running inside of a computer
  - Can run 2 or more operating systems, but this is resource heavy
- Docker is not a VM- it uses containers
  - We keep the core part of the OS, the Kernel (common with all Linux distros), which talks to the hardware
  - Everything else running on top of the Kernel (e.g. software libraries, programs, file systems etc), which differentiate operating systems, will be run in containers
    - Gives us most of the benefits of VMs, and removes most of the cons

Images

We can use Docker images to create containers
- Docker images are layered, which saves storage space if have similar images (e.g. sharing a layer for Ubuntu)

We use a Dockerfile to define what’s inside an image
- A normal workflow is to take an existing image, create a Dockerfile to add custom layers, and make a new Docker image

Containers

We can run an image to create a container, similar to flashing an image to a harddrive

We can start and stop a container, treating it like a VM
- But can also destroy and re-run the container, keeping the important data in a shared, persistent location.

Why Docker for robotics?

Using Docker

Pull ROS2 image

docker image pull ros:humble from Docker Hub

Show images

docker image ls

Run container

docker run -it ros:humble

Show running container

docker container ls

Docker 101

Crafting your Dockerfile (Docker and Robotics Pt 3)

Devices in Docker - Not so simple! (Docker for Robotics #4)

Dev Containers

https://articulatedrobotics.xyz/tutorials/docker/dev-containers