Content

  1. Install Docker On Ubuntu 22.04
  2. Docker Daemon Proxy
  3. ROS Jazzy Container
  4. Daily Commands

Docker setup notes split out from Linux Lookup.

Install Docker On Ubuntu 22.04

# remove old versions
sudo apt-get remove docker docker-engine docker.io containerd runc

# install docker
sudo apt-get update
sudo apt-get upgrade
sudo apt-get install -y docker.io

# allow current user to run docker
sudo usermod -aG docker "$USER"
newgrp docker

# verify
docker --version
docker run --rm hello-world

Docker Daemon Proxy

If pulling images is blocked by proxy or network settings, configure a Docker daemon proxy.

sudo mkdir -p /etc/systemd/system/docker.service.d

sudo tee /etc/systemd/system/docker.service.d/http-proxy.conf >/dev/null <<'EOF'
[Service]
Environment="HTTP_PROXY=http://proxy-host:port"
Environment="HTTPS_PROXY=http://proxy-host:port"
Environment="NO_PROXY=localhost,127.0.0.1,::1"
EOF

sudo systemctl daemon-reload
sudo systemctl restart docker
sudo systemctl show --property=Environment docker

# verify again
docker run --rm hello-world

ROS Jazzy Container

Pull the image:

docker pull osrf/ros:jazzy-desktop-full

Create the project container:

docker run -it --name mtc_jazzy \
  --network host \
  --ipc host \
  -v "$HOME/Robotic:/home/haotian/Robotic" \
  -w /home/haotian/Robotic \
  -e http_proxy="$http_proxy" \
  -e https_proxy="$https_proxy" \
  -e HTTP_PROXY="$HTTP_PROXY" \
  -e HTTPS_PROXY="$HTTPS_PROXY" \
  -e NO_PROXY="$NO_PROXY" \
  -e no_proxy="$no_proxy" \
  osrf/ros:jazzy-desktop-full \
  bash

Enter the same container later:

docker start -ai mtc_jazzy

If the container is already running, open another shell inside it:

docker exec -it mtc_jazzy bash

If group permissions have not refreshed in the current shell:

newgrp docker

Daily Commands

docker ps                 # running containers
docker ps -a              # all containers
docker stop mtc_jazzy     # stop container
docker rm mtc_jazzy       # remove container, not host code
docker images             # local images
docker rmi <image>        # remove image
docker run --rm -it <IMAGE_ID> /bin/bash