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If you use Docker to set up the TurtleBot3 development environment, you don’t need to set up PC and SBC manually and you can get started quickly and easily.
A Docker container can be used as a replacement for the previous PC and SBC setup.

Install Docker

• Install Docker by following the official Docker installation guide for Ubuntu: Install Docker Engine on Ubuntu
• It also possible to install Docker using the apt or snap package manager.

Set Up TurtleBot3 Docker Container

• The container is created using the same image regardless of whether it is on a PC or an SBC.
• The start command creates a container using the image we distributed on Docker Hub.
• In SBC (Raspberry Pi), sudo permission is required to run Docker commands.

  $ cd turtlebot3_ws/src/turtlebot3/docker/${ROS_DISTRO}
  $ sudo ./container.sh start
  

• Once the container is created, enter the container.

  $ sudo ./container.sh enter
  

Set up the bashrc file

• Set up the bashrc file in the docker container.
• Set your ROS_DOMAIN_ID, TURTLEBOT3_MODEL and LDS_MODEL according to your environment.(Uncomment and modify the lines as needed.)

  $ nano ~/.bashrc
  

  

• Save and exit the file with Ctrl + S, Ctrl + X. And then, apply the changes to bashrc.

  $ source ~/.bashrc
  

Description

Using Docker on Remote PC:

• You can run desired commands directly without building (e.g., nav2, slam, teleop, etc.).
  • Slam

    $ ros2 launch turtlebot3_cartographer turtlebot3_cartographer.launch.py
    

  • Navigation2

    $ ros2 launch turtlebot3_navigation2 navigation2.launch.py
    

  • Teleop

    $ ros2 run turtlebot3_teleop teleop_keyboard.launch.py
    

Using Docker on SBC:

• You can use bringup directly without building.
  • Bringup

    $ ros2 launch turtlebot3_bringup robot.launch.py
    

• PI camera is supported.
  • Camera Launch

    $ ros2 launch turtlebot3_bringup camera.launch.py