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Docker + ROS2 开发环境搭建指南

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作者 wsxq2
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Docker + ROS2 开发环境搭建指南

概述

本文介绍了如何使用 Docker 容器化技术搭建 ROS2 开发环境，包括官方镜像资源、相关学习资源、实践案例以及问题及解决方案等内容。通过容器化部署，可以实现环境隔离、快速部署和跨平台兼容，大大提升 ROS2 开发效率。

本文重点在于 Docker 和 ROS2 结合使用这一场景，着重说明遇到的几个案例及相关的配置文件，对于 Docker 本身的使用指南建议查阅 Docker 使用指南，关于 Docker 的安装和配置请查看其中的 相应章节

关于在 Windows 上搭建 ROS 环境的建议:

如果你想搭建过程比较简单，那么建议你使用 WSL，WSL 支持安装多个 Ubuntu 版本，包括 20.04、22.04、24.04等，这对于安装不同 ROS 版本是非常友好的。

如果你相比简单性，更看重可移植性（比如你换了个电脑）和移植的快速性，那么建议你结合 WSL 使用 Docker。

至于安装 VMware 虚拟机 或 VirtualBox 虚拟机，这是过时的方法，这种方式启动速度慢，GUI 也较卡，且无法使用硬件加速，更无法使用 GPU 进行深度学习和训练等。

运行环境 vs 开发环境:

运行环境：

  • 仅 Docker 配置文件（由 Dockerfile、docker-compose.yaml、.env 等文件定义）
  • 通常精简化，只包含运行时依赖
  • 专注于应用程序的运行和部署

开发环境：

  • Dev Container + Docker 配置文件的组合
  • 包含开发工具、调试器、代码编辑器插件等
  • 提供完整的开发体验

本文后续的实践案例中，既包括开发环境，也包括运行环境。

ROS 官方镜像资源

ROS 提供了不同用途的官方 Docker 镜像：

其他相关资源：

学习资源

ROS2 官方文档

Docker 官方文档

下面将罗列一些实践案例。

官方示例：Talker/Listener

这是 ROS2 官方教程的经典示例，适合学习和测试。

参考文档： ROS2 官方容器化指南

docker-compose.yaml

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services:
  talker:
    build: .
    command: ros2 run demo_nodes_cpp talker
  listener:
    build: .
    command: ros2 run demo_nodes_cpp listener
    depends_on:
      - talker

Dockerfile

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# Select the base image, such as humble or jazzy
FROM ros:humble

#ENV SHELL=/bin/bash

RUN apt update && apt install ros-humble-demo-nodes-cpp -y

# ********************************************************
# * Anything else you want to do like clean up goes here *
# ********************************************************

# Use my profile repository to set up the environment
# git clone https://github.com/wsxq2/profile.git ~/.MyProfile && cd ~/.MyProfile && ./deploy.sh $HTTP_PROXY_HOST

# [Optional] Set the default user. Omit if you want to keep the default as root.

ROS1/ROS2 桥接

⚠️ 注意： ROS1 Bridge 已逐步被弃用，仅在早期 ROS2 版本（如 Galactic）中支持，Humble 及以后版本不再提供支持。

主要限制：

  • 要求系统同时安装 ROS1 和 ROS2 环境
  • 配置复杂，兼容性问题较多
  • 建议： 新项目直接使用 ROS2，避免使用桥接

参考文档：Docker中部署ROS1和ROS2并实现互通

docker-compose.yaml

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services:
  ros1:
    build:
      context: .
      dockerfile: ros1.Dockerfile
    networks:
      - rosnetwork
    command: rosrun roscpp_tutorials talker

  ros2:
    build:
      context: .
      dockerfile: ros2.Dockerfile
    networks:
      - rosnetwork
    environment:
      - ROS_DOMAIN_ID=1
    command: ros2 run demo_nodes_cpp listener

  bridge:
    build:
      context: .
      dockerfile: bridge.Dockerfile
    command: ros2 run ros1_bridge dynamic_bridge
    environment:
      - ROS_MASTER_URI=http://172.19.0.1:11311
      - ROS_DOMAIN_ID=1
    networks:
      - rosnetwork

networks:
  rosnetwork:

ros1.Dockerfile

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ARG ROS_DISTRO=noetic

FROM ros:$ROS_DISTRO

# 安装ROS包
RUN apt-get update && apt-get install -y \
      ros-${ROS_DISTRO}-ros-tutorials \
      ros-${ROS_DISTRO}-common-tutorials && \
    rm -rf /var/lib/apt/lists/*

ros2.Dockerfile

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ARG ROS_DISTRO=humble

FROM ros:${ROS_DISTRO}

# 安装ROS包
RUN apt-get update && apt-get install -y \
      ros-${ROS_DISTRO}-demo-nodes-cpp && \
    rm -rf /var/lib/apt/lists/*

bridge.Dockerfile

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FROM ros:galactic-ros1-bridge

# 设置环境变量
ENV ROS_HOSTNAME=bridge
ENV ROS_MASTER_URI=http://ros1:11311

使用总结

在同一主机上，Docker 容器 ros1 + ros2 + bridge 的组合能成功，但其中的 ros1 如果使用主机的 ros1 则会失败。

由于 bridge 只是 ROS2 发展前期的过渡产品，仅前几个 ROS 版本支持（humble 就已经不支持了），它要求较高，系统中必须同时安装 ROS1 和 ROS2 的环境（如 bridge 容器中就是如此），所以现在尽量不要使用它。

RQT 图形化开发环境

用于开发 RQT 插件和图形化调试工具：

特点：

  • 基于 osrf/ros:humble-desktop 镜像
  • 集成完整的 GUI 开发环境
  • 支持 X11 转发

VNC方式可参考：docker-ros2-desktop-vnc

Dockerfile

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FROM osrf/ros:humble-desktop

# Set proxy host and port
ARG HTTP_PROXY_HOST=host.docker.internal
ARG HTTP_PROXY_PORT=7890

# Replace with your proxy host and port or comment out if not needed
ENV http_proxy=http://$HTTP_PROXY_HOST:$HTTP_PROXY_PORT
ENV https_proxy=$http_proxy

# Set the timezone to Shanghai
RUN echo 'Asia/Shanghai' > /etc/timezone && ln -sf /usr/share/zoneinfo/Asia/Shanghai /etc/localtime

# Update the apt sources to use Tsinghua University's mirror
RUN mv /etc/apt/sources.list /etc/apt/sources.list.bak
RUN <<EOF cat > /etc/apt/sources.list
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy-updates main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy-backports main restricted universe multiverse
deb http://security.ubuntu.com/ubuntu/ jammy-security main restricted universe multiverse
EOF

# Add ROS 2 apt repository
RUN apt-get install curl gnupg2 -y && curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
RUN mv /etc/apt/sources.list.d/ros2.sources /etc/apt/sources.list.d/ros2.sources.bak && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] https://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu jammy main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null

# 安装 rqt 及 Python 依赖
RUN apt-get update && \
    apt-get install -y python3-pip ros-humble-rqt unzip && \
    rm -rf /var/lib/apt/lists/*

# 安装最新版本的 clangd
RUN CLANGD_VERSION=$(curl -s https://api.github.com/repos/clangd/clangd/releases/latest | grep '"tag_name":' | sed -E 's/.*"([^"]+)".*/\1/') && \
    curl -L -o /tmp/clangd-linux.zip "https://github.com/clangd/clangd/releases/download/${CLANGD_VERSION}/clangd-linux-${CLANGD_VERSION}.zip" && \
    unzip /tmp/clangd-linux.zip -d /tmp/ && \
    find /tmp -name "clangd" -type f -executable -exec cp {} /usr/local/bin/clangd \; && \
    chmod +x /usr/local/bin/clangd && \
    rm -rf /tmp/clangd-linux.zip /tmp/clangd_*

# 手动模拟 rosdep init
RUN mkdir -p /etc/ros/rosdep/sources.list.d/ && curl -o /etc/ros/rosdep/sources.list.d/20-default.list -L https://mirrors.tuna.tsinghua.edu.cn/github-raw/ros/rosdistro/master/rosdep/sources.list.d/20-default.list

# set rosdep mirror to Tsinghua University
ENV ROSDISTRO_INDEX_URL=https://mirrors.tuna.tsinghua.edu.cn/rosdistro/index-v4.yaml

docker-compose.yaml

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services:
  ros2-gui:
    build: .
    container_name: ros2-gui
    ports:
      - "7400-7600:7400-7600/udp" # ROS2 DDS 互通端口
    volumes:
      - .:/workspace
      #- /tmp/.X11-unix:/tmp/.X11-unix # 挂载 X11 socket（Linux 下）
    environment:
      - DISPLAY=host.docker.internal:0.0 # Windows 下 X11，或根据你的 X server 设置调整
      - ROS_DOMAIN_ID=30
      - ROS_LOCALHOST_ONLY=0
      #- FASTRTPS_DEFAULT_PROFILES_FILE=/workspace/ros2_config.xml
    networks:
      - rosnet
    tty: true
    stdin_open: true
    #working_dir: /workspace

networks:
  rosnet:
    external: true

devcontainer.json

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{
    "name": "ROS2 Humble rqt GUI",
    "dockerComposeFile": "../docker-compose.yml",
    "service": "ros2-gui",
    "workspaceFolder": "/workspace",
    "customizations": {
        "vscode": {
            "settings": {
                "terminal.integrated.shell.linux": "/bin/bash",
                "clangd.path": "/usr/local/bin/clangd"
            },
            "extensions": [
                "donjayamanne.python-extension-pack",
                "ms-ros.ros",
                "llvm-vs-code-extensions.vscode-clangd",
                "seanwu.vscode-qt-for-python"
            ]
        }
    },
    "postCreateCommand": "rosdep update && rosdep install --from-paths src --ignore-src -r -y"
}

Cartographer SLAM

APT 安装方式（推荐）

Cartographer 是 Google 开源的 2D/3D SLAM 解决方案。在 ROS2 中可通过包管理器一键安装：

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sudo apt install ros-$ROS_DISTRO-cartographer-ros

特点：

  • 依赖包较多，安装耗时较长
  • 是生产环境推荐的安装方式
  • 官方仓库：ros2/cartographer_ros

这种方式下，Docker 相关配置就比较简单了。后续相关内容参考自：husarion/cartographer-docker

docker-compose.yaml

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services:
  cartographer:
    build: .
    volumes:
        - ./config/diffbot_lds_2d.lua:/pr2.lua
    command: >
      ros2 run cartographer_ros cartographer_node
        -configuration_directory /
        -configuration_basename pr2.lua

  cartographer-occ:
    build: .
    command: >
      ros2 run cartographer_ros cartographer_occupancy_grid_node
        -resolution 0.05
        -publish_period_sec 1.0

其中的 ./config/diffbot_lds_2d.lua 是 cartographer 的核心配置文件，由于它和具体的使用场景相关，需要手动调节，这里就不展开了。

Dockerfile

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FROM ros:humble

ARG ROS_DISTRO=humble

RUN apt update && \
    apt install -y ros-$ROS_DISTRO-cartographer-ros && \
    # clean to make the image smaller
    apt autoremove -y && \
    apt clean && \
    rm -rf /var/lib/apt/lists/*

源码编译方式

适用于需要自定义功能的场景，例如添加全局重定位功能。

参考资源：

Dockerfile

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# Select the base image, such as humble or jazzy
FROM ros:humble

# Replace with your username
ARG USERNAME=wsxq2
ARG HTTP_PROXY_HOST=wsxq2
ARG USER_UID=1000
ARG USER_GID=$USER_UID

# Set proxy host and port
ARG HTTP_PROXY_HOST=192.168.56.200
ARG HTTP_PROXY_PORT=7890

# Replace with your proxy host and port or comment out if not needed
ENV http_proxy=http://$HTTP_PROXY_HOST:$HTTP_PROXY_PORT
ENV https_proxy=$http_proxy

# Set the timezone to Shanghai
RUN echo 'Asia/Shanghai' > /etc/timezone && ln -sf /usr/share/zoneinfo/Asia/Shanghai /etc/localtime

# This allows sudo commands to inherit the proxy environment variables
RUN sed -i '/Defaults\s*env_reset/a Defaults env_keep = "http_proxy https_proxy ftp_proxy no_proxy DISPLAY XAUTHORITY"' /etc/sudoers

# Update the apt sources to use Tsinghua University's mirror
RUN mv /etc/apt/sources.list /etc/apt/sources.list.bak
RUN <<EOF cat > /etc/apt/sources.list
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy-updates main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy-backports main restricted universe multiverse
deb http://security.ubuntu.com/ubuntu/ jammy-security main restricted universe multiverse
EOF

# Add ROS 2 apt repository
RUN apt-get install curl gnupg2 -y && curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
RUN mv /etc/apt/sources.list.d/ros2.sources /etc/apt/sources.list.d/ros2.sources.bak && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] https://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu jammy main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null

# Update the apt package index.
RUN apt-get update

# Install basic utilities and tools. Use while loop to ensure it retries on failure
RUN /bin/bash -c 'while true; do if apt-get install -y python3-pip command-not-found vim x11-apps; then break; fi; done'

# Delete user if it exists in container (e.g Ubuntu Noble: ubuntu)
RUN if id -u $USER_UID ; then userdel `id -un $USER_UID` ; fi

# Create the user
RUN groupadd --gid $USER_GID $USERNAME \
    && useradd --uid $USER_UID --gid $USER_GID -m $USERNAME \
    #
    # [Optional] Add sudo support. Omit if you don't need to install software after connecting.
    && apt-get update \
    && apt-get install -y sudo \
    && echo $USERNAME ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/$USERNAME \
    && chmod 0440 /etc/sudoers.d/$USERNAME

ENV SHELL /bin/bash

# ********************************************************
# * Anything else you want to do like clean up goes here *
# ********************************************************

# Use my profile repository to set up the environment
# git clone https://github.com/wsxq2/profile.git ~/.MyProfile && cd ~/.MyProfile && ./deploy.sh $HTTP_PROXY_HOST

# [Optional] Set the default user. Omit if you want to keep the default as root.
USER $USERNAME
CMD ["/bin/bash"]

devcontainer.json

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{
    "name": "ROS 2 Development Container",
    "privileged": true,
    "remoteUser": "wsxq2",
    "build": {
        "dockerfile": "Dockerfile",
        "args": {
            "USERNAME": "wsxq2"
        }
    },
    "workspaceFolder": "/home/ws",
    "workspaceMount": "source=${localWorkspaceFolder},target=/home/ws,type=bind",
    "customizations": {
        "vscode": {
            "extensions":[
                "ms-vscode.cpptools",
                "ms-vscode.cpptools-themes",
                "twxs.cmake",
                "donjayamanne.python-extension-pack",
                "eamodio.gitlens",
                "ms-iot.vscode-ros",
                "llvm-vs-code-extensions.vscode-clangd"
            ]
        }
    },
    "containerEnv": {
        "DISPLAY": "192.168.56.200:0.0",
        "ROS_LOCALHOST_ONLY": "1",
        "ROS_DOMAIN_ID": "42"
    },
    "runArgs": [
        "--net=host",
        "--pid=host",
        "--ipc=host",
        "-e", "DISPLAY=${env:DISPLAY}"
    ],
    "mounts": [
       //"source=/tmp/.X11-unix,target=/tmp/.X11-unix,type=bind,consistency=cached",
       //"source=/dev/dri,target=/dev/dri,type=bind,consistency=cached"
    ],

    "postCreateCommand": "rosdep update && rosdep install --from-paths src --ignore-src -y && sudo chown -R $(whoami) /home/ws/"
}

在 Docker 中运行 RTABMAP

本部分展示了如何在 Docker 中的 ROS2 中运行 RTABMAP

Dockerfile

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FROM introlab3it/rtabmap_ros:humble

RUN apt-get update && apt-get install ros-humble-image-transport-plugins -y && rm -rf /var/lib/apt/lists/

docker-compose.yaml

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version: '3.8'

services:
  rtabmap:
    image: wsxq2/rtabmap_ros:humble
    container_name: rtabmap_mapping
    privileged: true
    stdin_open: true
    tty: true
    network_mode: host
    ipc: host
    environment:
      - DISPLAY
      - QT_X11_NO_MITSHM=1
      - ROS_HOME=/tmp/.ros
      - OMP_WAIT_POLICY=passive
    volumes:
      - ~/.ros:/tmp/.ros
      - /tmp/.X11-unix:/tmp/.X11-unix
    command: >
      ros2 launch rtabmap_demos robot_mapping_demo.launch.py 
      rtabmap_viz:=true 
      rviz:=true

  bag_player:
    image: introlab3it/rtabmap_ros:humble
    container_name: rtabmap_bag_player
    stdin_open: true
    tty: true
    network_mode: host
    ipc: host
    environment:
      - OMP_WAIT_POLICY=passive
      - ROS_HOME=/tmp/.ros
    volumes:
      - ~/.ros:/tmp/.ros
      - /tmp/.X11-unix:/tmp/.X11-unix
      - ./demo_mapping_bag:/tmp/demo_mapping_bag
    command: >
      /bin/bash -c "ros2 bag play /tmp/demo_mapping_bag/demo_mapping.db3 --clock"
    depends_on:
      - rtabmap

使用方法

使用前，需要安装并配置 Docker

完成后，从 Google Drive 下载 bag 文件并解压，解压后要保证目录结构如下所示：

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./
├── demo_mapping_bag/
│   ├── demo_mapping.db3
│   └── metadata.yaml
├── docker-compose.yaml
├── Dockerfile
└── README.md

然后执行以下命令即可：

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docker compose up

FAST-LIVO2 编译与运行及开发环境

这部分说明了四种情形：ROS1 Noetic、ROS1 Noetic + Docker、ROS2 Humble、ROS2 Humble + Docker。第一、三种情形仅描述了如何在已有的 ROS1 和 ROS2 环境中编译并运行 FAST-LIVO2，而第二、四种则在此基础上利用 Docker 搭建了一致的开发环境。

FAST-LIVO2 官方支持的是 ROS1 ，包括 Melodic、Noetic 这两个版本。FAST-LIVO2 中主要有两个组件，FAST-LIVO2 本身和 rpg_vikit，官方的 GitHub 链接如下：

对于 ROS2，有网友做了相应的移植，且有两个版本可供参考：

  1. https://github.com/integralrobotics/FAST-LIVO2
  2. https://github.com/Robotic-Developer-Road/FAST-LIVO2/tree/humble

其中对于第 2 个版本，由于没有公开 rpg_vikit 的源码，所以无法使用，因此使用第 1 个版本。其对应的 rpg_vikit 源码为 https://github.com/integralrobotics/rpg_vikit。

虽然我们的目标是在 ROS2 humble 中使用，但对于官方 ROS1 版本的运行和测试也有一定的价值，比如：假如实际使用时，在 ROS2 humble 中遇到了问题，找不到解决思路时，可以回到 ROS1 版本中测试看该问题是否同样存在，以排除移植到 ROS2 中改动代码造成的影响。因此，下面先说 ROS1 的情况，再说 ROS2 中的情况。

ROS1 Noetic

如果你有该环境（无论是使用 WSL 还是 Linux主机），那么使用起来会非常简单，按照官方教程走即可，不过有个地方需要注意：在 Noetic 中，Sophus 编译不通过，报错：so2.cpp:32:26: error: lvalue required as left operand of assignment，这时需要手动改下代码，改动如下所示：

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namespace Sophus
{

SO2::SO2()
{
-  unit_complex_.real() = 1.;
-  unit_complex_.imag() = 0.;
+  unit_complex_.real(1.);
+  unit_complex_.imag(0.);
}

另外，PCL、Eigen、OpenCV 这些依赖可以直接使用 apt 安装：

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apt install libpcl-dev libeigen3-dev libopencv-dev -y

ROS1 Noetic + Docker

ROS1 noetic 是 FAST-LIVO2 官方支持的版本，本次实践目录结构如下：

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.
├── .devcontainer/
│   └── devcontainer.json
├── .vscode/
├── build/
├── data/ # bag 数据文件
├── devel/
├── docker/ # docker 相关文件
│   ├── .dockerignore
│   ├── .env
│   ├── Dockerfile
│   └── docker-compose.yml
├── src/ # FAST-LIVO2 源码文件
│   ├── FAST-LIVO2/
│   ├── rpg_vikit/
└── README.md

关键的几个文件下面逐一展示。

Dockerfile

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# FAST-LIVO2 Development Docker Image
# Based on ROS Noetic (Ubuntu 20.04)

FROM osrf/ros:noetic-desktop-full

# Accept build arguments for proxy settings
ARG PROXY_HOST=host.docker.internal
ARG PROXY_PORT=7890

# Set environment variables
ENV DEBIAN_FRONTEND=noninteractive
ENV ROS_DISTRO=noetic
ENV CATKIN_WS=/home/developer/workspace

# Set proxy environment variables if provided
ENV https_proxy=http://${PROXY_HOST}:${PROXY_PORT}
ENV http_proxy=$https_proxy
ENV no_proxy=localhost,127.0.0.1,::1,192.168.0.0/16

RUN echo 'Asia/Shanghai' > /etc/timezone && ln -sf /usr/share/zoneinfo/Asia/Shanghai /etc/localtime

# Update the apt sources to use Tsinghua University's mirror
RUN <<EOF cat > /etc/apt/sources.list
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-updates main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-backports main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ focal-security main restricted universe multiverse
EOF
# Add ROS 1 apt repository
RUN rm -rf /etc/apt/sources.list.d/ros1-snapshots.list && echo "deb https://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ focal main" | tee /etc/apt/sources.list.d/ros-latest.list > /dev/null && apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

# 手动模拟 rosdep init
RUN mkdir -p /etc/ros/rosdep/sources.list.d/ && curl -o /etc/ros/rosdep/sources.list.d/20-default.list -L https://mirrors.tuna.tsinghua.edu.cn/github-raw/ros/rosdistro/master/rosdep/sources.list.d/20-default.list

# set rosdep mirror to Tsinghua University
ENV ROSDISTRO_INDEX_URL=https://mirrors.tuna.tsinghua.edu.cn/rosdistro/index-v4.yaml

# Install system dependencies
RUN apt-get update && apt-get install -y \
    git \
    cmake \
    build-essential \
    libeigen3-dev \
    libpcl-dev \
    libopencv-dev \
    python3-catkin-tools \
    python3-rosdep \
    python3-rosinstall \
    python3-rosinstall-generator \
    python3-wstool \
    unzip \
    wget \
    nano \
    vim \
    htop \
    tmux \
    && rm -rf /var/lib/apt/lists/*

SHELL ["/bin/bash", "-c"]

# 安装最新版本的 clangd
RUN CLANGD_VERSION=$(curl -s https://api.github.com/repos/clangd/clangd/releases/latest | grep '"tag_name":' | sed -E 's/.*"([^"]+)".*/\1/') && \
    curl -L -o /tmp/clangd-linux.zip "https://github.com/clangd/clangd/releases/download/${CLANGD_VERSION}/clangd-linux-${CLANGD_VERSION}.zip" && \
    unzip /tmp/clangd-linux.zip -d /tmp/clangd-linux && \
    cp -r /tmp/clangd-linux/*/{bin,lib} /usr/local && \
    chmod +x /usr/local/bin/clangd && \
    rm -rf /tmp/clangd-linux.zip /tmp/clangd-linux
    
# Create a non-root user
RUN useradd -m -s /bin/bash developer && \
    echo "developer:developer" | chpasswd && \
    usermod -aG sudo developer && \
    echo developer ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/developer && \
    chmod 0440 /etc/sudoers.d/developer

# Switch to developer user
USER developer
WORKDIR /home/developer

# Initialize rosdep
RUN rosdep update

# Create catkin workspace
RUN mkdir -p ${CATKIN_WS}/src
WORKDIR ${CATKIN_WS}

# Install Sophus (specific version for FAST-LIVO2)
RUN cd /tmp && \
    curl -OL https://github.com/strasdat/Sophus/archive/a621ff2e56c56c839a6c40418d42c3c254424b5c.zip && \
    unzip a621ff2e56c56c839a6c40418d42c3c254424b5c.zip && \
    cd Sophus-* && \
    sed -i -E \
    -e 's/unit_complex_\.real\(\) = ([0-9.]+);/unit_complex_.real(\1);/' \
    -e 's/unit_complex_\.imag\(\) = ([0-9.]+);/unit_complex_.imag(\1);/' \
    ./sophus/so2.cpp && \
    mkdir build && cd build && \
    cmake .. && \
    make -j$(nproc) && \
    sudo make install && \
    rm -rf /tmp/Sophus

RUN git clone https://github.com/wsxq2/profile.git ~/.MyProfile && cd ~/.MyProfile && ./deploy.sh ${PROXY_HOST}

# Set up environment
RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> ~/.bashrc && \
    echo "source ${CATKIN_WS}/devel/setup.bash" >> ~/.bashrc && \
    echo "export ROS_PACKAGE_PATH=\$ROS_PACKAGE_PATH:${CATKIN_WS}" >> ~/.bashrc && \
    echo "export ROS_WORKSPACE=${CATKIN_WS}" >> ~/.bashrc && \
    echo "export DISABLE_ROS1_EOL_WARNINGS=1" >> ~/.bashrc

# Set working directory
WORKDIR ${CATKIN_WS}

# Expose common ROS ports
EXPOSE 11311

# Default command
CMD ["/bin/bash"]

docker-compose.yaml

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services:
  fast-livo2-dev:
    build:
      context: .
      dockerfile: Dockerfile
      args:
        - PROXY_HOST=${PROXY_HOST:-host.docker.internal}
        - PROXY_PORT=${PROXY_PORT:-7890}
    image: fast-livo2:dev
    container_name: fast-livo2-development
    
    # Enable GUI applications (for RViz, etc.)
    environment:
      - DISPLAY=${DISPLAY}
      - QT_X11_NO_MITSHM=1
      - XAUTHORITY=/tmp/.docker.xauth
    
    volumes:
      # X11 forwarding for GUI applications
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
      - /tmp/.docker.xauth:/tmp/.docker.xauth:rw
      
      # Mount your local development directory
      - ../:/home/developer/workspace:rw
      
    # Network mode for ROS communication
    network_mode: "host"
    
    # Keep container running
    stdin_open: true
    tty: true
    
    # Privileged mode for hardware access (if needed for sensors)
    privileged: true
    
    # Working directory
    working_dir: /home/developer/workspace
    
    # Default command
    command: /bin/bash

.env

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# Environment variables for Docker Compose
# You can modify these values according to your network configuration

# Proxy settings (uncomment and modify if you need to use a proxy)
PROXY_HOST=host.docker.internal
PROXY_PORT=7890

# Display settings for GUI applications
DISPLAY=host.docker.internal:0.0

devcontainer.json

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{
    "name": "FAST-LIVO2 Development",
    "dockerComposeFile": ["../docker/docker-compose.yml"],
    "service": "fast-livo2-dev",
    "workspaceFolder": "/home/developer/workspace",
    
    // 基本扩展
    "customizations": {
        "vscode": {
            "extensions": [
                "ms-vscode.cmake-tools",
                "ms-iot.vscode-ros",
                "llvm-vs-code-extensions.vscode-clangd"
            ],
            "settings": {
                "http.proxy": "http://host.docker.internal:7890",
                "http.proxyStrictSSL": false,
                "clangd.path": "/usr/local/bin/clangd",
                "C_Cpp.intelliSenseEngine": "disabled",
                "terminal.integrated.defaultProfile.linux": "bash",
                "terminal.integrated.profiles.linux": {
                    "bash": {
                        "path": "/bin/bash",
                        "args": [
                            "-l"
                        ]
                    }
                }
            }
        }
    },
}

使用方法

使用前，需要安装并配置 Docker

完成后，需要从 fast-livo2-dataset - OneDrive 下载 bag 数据。建议下载最小的 Retail_Street.bag。解压并放置到 data/ 目录。

下载源码：

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cd src
git clone https://github.com/hku-mars/FAST-LIVO2.git
git clone https://github.com/xuankuzcr/rpg_vikit.git

此时检查下目录结构，确保目录结构如下：

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.
├── .devcontainer/
│   └── devcontainer.json
├── .vscode/
├── data/ # bag 数据文件
│   └── Retail_Street.bag
├── docker/ # docker 相关文件
│   ├── .dockerignore # 可选
│   ├── .env
│   ├── Dockerfile
│   └── docker-compose.yml
├── src/ # FAST-LIVO2 源码文件
│   ├── FAST-LIVO2/
│   ├── rpg_vikit/
└── README.md

根据实际情况调整下 .env 文件中的内容。其中有三个变量，均要正确配置：

  • PROXY_HOST：当前设置的是你的主机。这通常是正确的，因为容器一般运行在本地主机上。但你需要确保你开启了 clash 之类的 fq 工具，且需要启用“Allow LAN”相关设置。目前支持的是 HTTP 代理。
  • PROXY_PORT：当前设置是 7890。这是 clash 的默认端口。
  • DISPLAY：当前设置的是你的主机。这要求你在主机上安装 X11 服务器，例如 vcxsrv。如果没有正确设置此变量，会导致你无法启动 RVIZ 等 GUI 工具。

此外 devcontainer.json 中也需要配置代理变量，否则 vscode 拓展可能无法下载。该变量当前为：

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"http.proxy": "http://host.docker.internal:7890",

如前所述，你需要根据自己的实际情况修改。

然后在 WSL 中使用code .命令运行 VS Code，然后点击左下角，选择“Reopen folder in container”，等待一段时间后即可自动完成环境搭建。完成后打开 VS Code 中的 Terminal，先进行编译操作和 source：

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catkin_make
source ./devel/setup.bash

然后执行以下命令（打开两个 Teminal 分别执行）：

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roslaunch fast_livo mapping_avia.launch
rosbag play data/Retail_Street.bag

ROS2 Humble

这部分主要参考自 https://github.com/integralrobotics/FAST-LIVO2 中的 README.md 说明，但细节上有所完善和优化。

类似地，这里假设你有 ROS2 Humble 的环境，则可以按照以下步骤进行：

执行以下命令安装依赖并下载源码：

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sudo apt install libpcl-dev libeigen3-dev libopencv-dev -y
sudo apt install ros-humble-sophus -y # 直接使用 apt 中提供的版本，而非手动编译特定版本并安装到系统
sudo apt install ros-humble-image-transport-plugins -y # 不安装这个会编译失败
cd fast_ws/src # 如果没有请自行创建此目录
git clone https://github.com/integralrobotics/FAST-LIVO2
git clone https://github.com/integralrobotics/rpg_vikit

参考 https://github.com/Livox-SDK/livox_ros_driver2 安装 livox_ros_driver2，这是移植到 ROS2 后新增的包。

此时目录结构如下：

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./
└── src/
    ├── FAST-LIVO2/
    ├── livox_ros_driver2/
    └── rpg_vikit/

编译时执行以下命令：

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cd src/livox_ros_driver2
./build.sh humble

这里由于 livox_ros_driver2 的设计问题，编译时建议这样编译，否则可能编译不通过。

运行前需要转换 bag 格式，将原本的 ROS1 格式转换为 ROS2 格式：

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pip install rosbags
rosbags-convert --src Retail_Street.bag --dst Retail_Street

转换完成后需要修改消息类型，在 Retail_Street/metadata.yaml 中做出以下修改：

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rosbag2_bagfile_information:
  compression_format: ''
  compression_mode: ''
  custom_data: {}
  duration:
    nanoseconds: 135470252209
  files:
  - duration:
      nanoseconds: 135470252209
    message_count: 30157
    path: Retail_Street.db3
    ..............
    topic_metadata:
      name: /livox/lidar
      offered_qos_profiles: ''
      serialization_format: cdr
-     type: livox_ros_driver/msg/CustomMsg
+     type: livox_ros_driver2/msg/CustomMsg
      type_description_hash: RIHS01_94041b4794f52c1d81def2989107fc898a62dacb7a39d5dbe80d4b55e538bf6d

编译完成后在不同的 Terminal 中分别运行：

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ros2 launch fast_livo mapping_aviz.launch.py use_rviz:=True
ros2 bag play -p --clock Retail_Street  # 启动后处于暂停状态，前者准备就绪后即可使用空格键开始 play

ROS2 Humble + Docker

ROS2 humble 不是 FAST-LIVO2 官方支持的版本，使用的是 网友移植的版本。目录结构和 前面 基本相同。

总体来说，这部分综合了 ROS1 Noetic + Docker 和 ROS2 Humble 的内容。

关键的几个文件下面逐一展示。

Dockerfile

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# FAST-LIVO2 Development Docker Image
# Based on ROS Humble (Ubuntu 22.04)

FROM osrf/ros:humble-desktop

# Accept build arguments for proxy settings
ARG PROXY_HOST=host.docker.internal
ARG PROXY_PORT=7890

# Set environment variables
ENV DEBIAN_FRONTEND=noninteractive
ENV ROS_DISTRO=humble
ENV LIVO2_WS=/home/developer/livo2_ws

# Set proxy environment variables if provided
ENV https_proxy=http://${PROXY_HOST}:${PROXY_PORT}
ENV http_proxy=$https_proxy
ENV no_proxy=localhost,127.0.0.1,::1,192.168.0.0/16

RUN echo 'Asia/Shanghai' > /etc/timezone && ln -sf /usr/share/zoneinfo/Asia/Shanghai /etc/localtime

# Update the apt sources to use Tsinghua University's mirror
RUN <<EOF cat > /etc/apt/sources.list
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy-updates main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy-backports main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ jammy-security main restricted universe multiverse
EOF

# Add ROS 2 apt repository
RUN curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
RUN mv /etc/apt/sources.list.d/ros2.sources /etc/apt/sources.list.d/ros2.sources.bak && echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] https://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu jammy main" | tee /etc/apt/sources.list.d/ros2.list > /dev/null

# 手动模拟 rosdep init
RUN mkdir -p /etc/ros/rosdep/sources.list.d/ && curl -o /etc/ros/rosdep/sources.list.d/20-default.list -L https://mirrors.tuna.tsinghua.edu.cn/github-raw/ros/rosdistro/master/rosdep/sources.list.d/20-default.list

# set rosdep mirror to Tsinghua University
ENV ROSDISTRO_INDEX_URL=https://mirrors.tuna.tsinghua.edu.cn/rosdistro/index-v4.yaml

# Install system dependencies
RUN apt-get update && apt-get install -y \
    git \
    cmake \
    build-essential \
    libeigen3-dev \
    libpcl-dev \
    libopencv-dev \
    ros-${ROS_DISTRO}-sophus \
    ros-${ROS_DISTRO}-image-transport-plugins \
    ros-${ROS_DISTRO}-pcl-ros \
    python3-rosdep \
    unzip \
    vim \
    && rm -rf /var/lib/apt/lists/*

SHELL ["/bin/bash", "-c"]

# 安装最新版本的 clangd
RUN CLANGD_VERSION=$(curl -s https://api.github.com/repos/clangd/clangd/releases/latest | grep '"tag_name":' | sed -E 's/.*"([^"]+)".*/\1/') && \
    curl -L -o /tmp/clangd-linux.zip "https://github.com/clangd/clangd/releases/download/${CLANGD_VERSION}/clangd-linux-${CLANGD_VERSION}.zip" && \
    unzip /tmp/clangd-linux.zip -d /tmp/clangd-linux && \
    cp -r /tmp/clangd-linux/*/{bin,lib} /usr/local && \
    chmod +x /usr/local/bin/clangd && \
    rm -rf /tmp/clangd-linux.zip /tmp/clangd-linux
    
# Install Livox-SDK2
RUN <<EOF
cd /tmp
curl -OL https://github.com/Livox-SDK/Livox-SDK2/archive/refs/heads/master.zip
unzip master.zip
rm master.zip
cd ./Livox-SDK2-master
mkdir build
cd build
cmake .. && make -j
sudo make install
rm -rf /tmp/Livox-SDK2*
EOF

    
# Create a non-root user
RUN useradd -m -s /bin/bash developer && \
    echo "developer:developer" | chpasswd && \
    usermod -aG sudo developer && \
    echo developer ALL=\(root\) NOPASSWD:ALL > /etc/sudoers.d/developer && \
    chmod 0440 /etc/sudoers.d/developer

# Switch to developer user
USER developer
WORKDIR /home/developer

# Initialize rosdep
RUN rosdep update

RUN mkdir -p ${LIVO2_WS}/src
WORKDIR ${LIVO2_WS}

RUN git clone https://github.com/wsxq2/profile.git ~/.MyProfile && cd ~/.MyProfile && ./deploy.sh ${PROXY_HOST}

# Set up environment
RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> ~/.bashrc && \
    echo "source ${LIVO2_WS}/install/setup.bash" >> ~/.bashrc && \
    echo "export ROS_PACKAGE_PATH=\$ROS_PACKAGE_PATH:${LIVO2_WS}" >> ~/.bashrc && \
    echo "export ROS_WORKSPACE=${LIVO2_WS}" >> ~/.bashrc && \

# Set working directory
WORKDIR ${LIVO2_WS}

# Default command
CMD ["/bin/bash"]

docker-compose.yaml

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services:
  fast-livo2-dev-humble:
    build:
      context: .
      dockerfile: Dockerfile
      args:
        - PROXY_HOST=${PROXY_HOST:-host.docker.internal}
        - PROXY_PORT=${PROXY_PORT:-7890}
    image: fast-livo2:humble
    container_name: fast-livo2-development-humble
    
    # Enable GUI applications (for RViz, etc.)
    environment:
      - DISPLAY=${DISPLAY}
      - QT_X11_NO_MITSHM=1
      - XAUTHORITY=/tmp/.docker.xauth
    
    volumes:
      # X11 forwarding for GUI applications
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
      - /tmp/.docker.xauth:/tmp/.docker.xauth:rw
      
      # Mount your local development directory
      - ../:/home/developer/livo2_ws:rw
      
    # Network mode for ROS communication
    network_mode: "host"
    
    # Keep container running
    stdin_open: true
    tty: true
    
    # Privileged mode for hardware access (if needed for sensors)
    privileged: true

.env

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# Environment variables for Docker Compose
# You can modify these values according to your network configuration

# Proxy settings (uncomment and modify if you need to use a proxy)
PROXY_HOST=host.docker.internal
PROXY_PORT=7890

# Display settings for GUI applications
DISPLAY=host.docker.internal:0.0

devcontainer.json

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{
    "name": "FAST-LIVO2 Development For Humble",
    "dockerComposeFile": ["../docker/docker-compose.yml"],
    "service": "fast-livo2-dev-humble",
    "workspaceFolder": "/home/developer/livo2_ws",
    
    // 基本扩展
    "customizations": {
        "vscode": {
            "extensions": [
                "ms-vscode.cmake-tools",
                "ms-iot.vscode-ros",
                "llvm-vs-code-extensions.vscode-clangd"
            ],
            "settings": {
                "http.proxy": "http://host.docker.internal:7890",
                "http.proxyStrictSSL": false,
                "clangd.path": "/usr/local/bin/clangd",
                "C_Cpp.intelliSenseEngine": "disabled",
                "terminal.integrated.defaultProfile.linux": "bash",
                "terminal.integrated.profiles.linux": {
                    "bash": {
                        "path": "/bin/bash",
                        "args": [
                            "-l"
                        ]
                    }
                }
            }
        }
    },
}

使用方法

使用前，需要安装并配置 Docker

完成后，在 WSL 中执行以下命令安装依赖并下载源码：

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cd ./src # 如果没有请自行创建此目录
git clone https://github.com/integralrobotics/FAST-LIVO2
git clone https://github.com/integralrobotics/rpg_vikit
git clone https://github.com/Livox-SDK/livox_ros_driver2

然后从 fast-livo2-dataset - OneDrive 下载 bag 数据。建议下载最小的 Retail_Street.bag。解压并放置到 data/ 目录。

新建前述文件并放置到正确目录，使目录结构如下：

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./
├── .devcontainer/
│   └── devcontainer.json
├── .vscode/
├── data/
│   └── Retail_Street.bag
├── docker/
│   ├── .env
│   ├── Dockerfile
│   └── docker-compose.yml
├── src/
│   ├── FAST-LIVO2/
│   ├── livox_ros_driver2/
│   └── rpg_vikit/
└── README.md

根据实际情况调整下 .env 文件中的内容。其中有三个变量，均要正确配置：

  • PROXY_HOST：当前设置的是你的主机。这通常是正确的，因为容器一般运行在本地主机上。但你需要确保你开启了 clash 之类的 fq 工具，且需要启用“Allow LAN”相关设置。目前支持的是 HTTP 代理。
  • PROXY_PORT：当前设置是 7890。这是 clash 的默认端口。
  • DISPLAY：当前设置的是你的主机。这要求你在主机上安装 X11 服务器，例如 vcxsrv。如果没有正确设置此变量，会导致你无法启动 RVIZ 等 GUI 工具。

此外 devcontainer.json 中也需要配置代理变量，否则 vscode 拓展可能无法下载。该变量当前为：

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"http.proxy": "http://host.docker.internal:7890",

如前所述，你需要根据自己的实际情况修改。

然后在 WSL 中使用code .命令运行 VS Code，然后点击左下角，选择“Reopen folder in container”，等待一段时间后即可自动完成环境搭建。完成后打开 VS Code 中的 Terminal（这里打开的 Teminal 就不再是 WSL 了，而是在 Container 中，即 ROS2 Humble 的环境中），先进行编译操作和 source：

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cd src/livox_ros_driver2
./build.sh humble
cd -
source ./install/setup.bash

这里由于 livox_ros_driver2 的设计问题，编译时建议这样编译，否则可能编译不通过。

运行前需要转换 bag 格式，将原本的 ROS1 格式转换为 ROS2 格式：

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pip install rosbags
cd ./data/
rosbags-convert --src Retail_Street.bag --dst Retail_Street

转换完成后需要修改消息类型，在 data/Retail_Street/metadata.yaml 中做出以下修改：

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rosbag2_bagfile_information:
  compression_format: ''
  compression_mode: ''
  custom_data: {}
  duration:
    nanoseconds: 135470252209
  files:
  - duration:
      nanoseconds: 135470252209
    message_count: 30157
    path: Retail_Street.db3
    ..............
    topic_metadata:
      name: /livox/lidar
      offered_qos_profiles: ''
      serialization_format: cdr
-     type: livox_ros_driver/msg/CustomMsg
+     type: livox_ros_driver2/msg/CustomMsg
      type_description_hash: RIHS01_94041b4794f52c1d81def2989107fc898a62dacb7a39d5dbe80d4b55e538bf6d

编译完成后在不同的 Terminal 中分别运行：

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ros2 launch fast_livo mapping_aviz.launch.py use_rviz:=True
ros2 bag play -p --clock ./data/Retail_Street  # 启动后处于暂停状态，前者准备就绪后即可使用空格键开始 play

遇到过的问题

X11 方式访问 RVIZ 经常发生错乱现象？

环境说明：Windows11 + Docker Desktop（使用 WSL2） + ROS humble desktop 镜像

尝试了以下步骤：

  1. 更新 vcxsrv：marchaesen/vcxsrv: Windows X-server based on the xorg git sources (like xming or cygwin’s xwin), but compiled with Visual Studio 2012 Community Edition.
  2. 更新显卡驱动：Drivers and Support for Processors and Graphics

然后目前暂未发现错乱现象，疑似解决了。

其他一些尝试：

Docker
Docker ROS 容器化 开发环境
本文由作者按照 CC BY 4.0 进行授权