Replace ".bash" with your shell if you're not using bash

Possible values are: setup.bash, setup.sh, setup.zsh

source /opt/ros/jazzy/setup.bash

1. Pull an official ROS 2 Docker image

For example, ROS 2 Humble (LTS):

docker pull osrf/ros:humble-desktop

If you need Jazzy (latest):

docker pull osrf/ros:jazzy-desktop

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2. Run the container

docker run -it --rm osrf/ros:humble-desktop bash

This opens a ROS 2 shell inside the container.

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3. Persist and map workspaces (recommended)

To develop with ROS 2, mount your code folder:

docker run -it --rm \
  --name ros2_container \
  -v ~/ros2_ws:/root/ros2_ws \
  osrf/ros:humble-desktop bash

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4. Enable GUI tools (like rviz2)

On Linux:

xhost +local:root
docker run -it --rm \
  --net=host \
  -e DISPLAY=$DISPLAY \
  -v /tmp/.X11-unix:/tmp/.X11-unix \
  osrf/ros:humble-desktop bash

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Connect an external robot and open your own ROS 2 code

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🧩 Step 1 — Run ROS 2 Docker with Access to Your Files + Robot

# Create a folder for your ROS2 code if not already
mkdir -p ~/ros2_ws

# Run ROS 2 Jazzy with access to USB devices and your workspace
sudo docker run -it --net=host --privileged \
    -v ~/ros2_ws:/root/ros2_ws \
    --device=/dev/ttyUSB0 \
    osrf/ros:jazzy-desktop

What this does

• -v ~/ros2_ws:/root/ros2_ws → lets you open and edit your saved code inside the container
• --device=/dev/ttyUSB0 → gives ROS 2 access to your robot’s serial port
• --net=host → shares network so you can talk to the robot over Wi-Fi/Ethernet

⚠️ Replace /dev/ttyUSB0 with your robot’s port (run ls /dev/tty* to find it).

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🧠 Step 2 — Build Your Saved Code

Once inside the container:

cd ~/ros2_ws
colcon build
source install/setup.bash

Then run your nodes:

ros2 run your_package your_node

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🧰 Step 3 — Access from Ubuntu Host

If you edit files in ~/ros2_ws using VS Code or another editor, they’ll update inside Docker instantly (because of the shared folder).

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⚡ Optional — Create an Easy Start Script

You can save this as run_ros2.sh:

sudo docker run -it --net=host --privileged \
  -v ~/ros2_ws:/root/ros2_ws \
  --device=/dev/ttyUSB0 \
  osrf/ros:jazzy-desktop

Then start ROS 2 anytime with:

bash run_ros2.sh

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