l4t-ros2-docker

Introduction

This is a Dockerfile to make ROS 2 environment on Jetson device.
This Dockerfile is based on nvidia/container-images/l4t-base.

Requirements

• Docker
• nvidia-docker2

Version

L4T version of package	ROS 2 distribution	Dockerfile
35.3.1	Humble	humble/Dockerfile
36.4.0	Jazzy	jazzy/Dockerfile

Checked applications

I tested on Jetson Orin NX 16GB.

demo_nodes_cpp

$ ros2 run demo_nodes_cpp talker
[INFO] [1683313006.304406217] [talker]: Publishing: 'Hello World: 1'
[INFO] [1683313007.304254294] [talker]: Publishing: 'Hello World: 2'
[INFO] [1683313008.304208091] [talker]: Publishing: 'Hello World: 3'
[INFO] [1683313009.304162780] [talker]: Publishing: 'Hello World: 4'
[INFO] [1683313010.304098489] [talker]: Publishing: 'Hello World: 5'

$ ros2 run demo_nodes_py listener
[INFO] [1683313006.326180969] [listener]: I heard: [Hello World: 1]
[INFO] [1683313007.306190692] [listener]: I heard: [Hello World: 2]
[INFO] [1683313008.306295810] [listener]: I heard: [Hello World: 3]
[INFO] [1683313009.306328576] [listener]: I heard: [Hello World: 4]
[INFO] [1683313010.306021672] [listener]: I heard: [Hello World: 5]

turtlesim

Navigation2

Reference

• https://gitlab.com/nvidia/container-images/l4t-base
• https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html
• https://docs.ros.org/en/jazzy/Installation/Ubuntu-Install-Debs.html