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r3271.humble_core.md

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jetson-ros:humble-core-r32.7.1

Pull or Build

Pull the docker container

docker pull ghcr.io/kalanaratnayake/jetson-ros:humble-core-r32.7.1

Build the docker container

docker buildx build --load --platform linux/arm64 -f ros-images/r3271.humble_core.Dockerfile -t jetson-ros:humble-core-r32.7.1 .

or build with cache locally and push when image compilation can be slow on github actions and exceeds 6rs

docker buildx build --push \
                    --platform linux/arm64 \
                    --cache-from=type=registry,ref=ghcr.io/kalanaratnayake/jetson-ros:humble-ros-core-r32.7.1-buildcache \
                    --cache-to=type=registry,ref=ghcr.io/kalanaratnayake/jetson-ros:humble-ros-core-r32.7.1-buildcache,mode=max  \
                    -f ros-images/r3271.humble_core.Dockerfile  \
                    -t ghcr.io/kalanaratnayake/jetson-ros:humble-core-r32.7.1 .

Start

Start the docker container

docker run --rm -it --runtime nvidia --network host --gpus all -e DISPLAY ghcr.io/kalanaratnayake/jetson-ros:humble-core-r32.7.1 bash

Test

Run the following commands inside the docker container to confirm that the container is working properly

ros2 run demo_nodes_cpp talker

Run the following commands on another instance of ros container or another Computer/Jetson device installed with ROS humble to check connectivity over host network and discoverability (while the above command is running).

ros2 run demo_nodes_py listener