{"id":35224,"date":"2023-09-30T19:07:31","date_gmt":"2023-09-24T05:02:15","guid":{"rendered":"https:\/\/www.silicloud.com\/zh\/blog\/docker-compose%e3%81%a7ros2%e3%83%8e%e3%83%bc%e3%83%89%e3%82%92%e8%b5%b7%e5%8b%95%e3%81%99%e3%82%8b\/"},"modified":"2024-05-04T02:14:55","modified_gmt":"2024-05-03T18:14:55","slug":"docker-compose%e3%81%a7ros2%e3%83%8e%e3%83%bc%e3%83%89%e3%82%92%e8%b5%b7%e5%8b%95%e3%81%99%e3%82%8b","status":"publish","type":"post","link":"https:\/\/www.silicloud.com\/zh\/blog\/docker-compose%e3%81%a7ros2%e3%83%8e%e3%83%bc%e3%83%89%e3%82%92%e8%b5%b7%e5%8b%95%e3%81%99%e3%82%8b\/","title":{"rendered":"Docker Compose\u3067ROS2\u30ce\u30fc\u30c9\u3092\u8d77\u52d5\u3059\u308b"},"content":{"rendered":"<h1>\u306f\u3058\u3081\u306b<\/h1>\n<p>Docker Compose\u3092\u4f7f\u3063\u3066demo_nodes\u306elistener\u3068talker\u3092\u5225\u3005\u306eDocker\u30b3\u30f3\u30c6\u30ca\u3067\u8d77\u52d5\u3057\u3001\u305d\u308c\u305e\u308c\u306eDocker\u30b3\u30f3\u30c6\u30ca\u540c\u58eb\u3067ROS2\u901a\u4fe1\u3059\u308b\u30b5\u30f3\u30d7\u30eb\u3002<\/p>\n<h1>\u8003\u8bd5\u73af\u5883<\/h1>\n<p>\u4e3b\u673aPC\u7684\u64cd\u4f5c\u7cfb\u7edf\uff1aubuntu22.04.4LTS<br \/>\nDocker\u5bb9\u5668\u7684\u64cd\u4f5c\u7cfb\u7edf\uff1aubuntu22.04LTS<br \/>\nDocker\u5bb9\u5668\u7684ROS2\u7248\u672c\uff1aHumble<br \/>\nDocker\u7684\u7248\u672c\uff1a24.0.6<br \/>\ndocker-compose\u7684\u7248\u672c\uff1a2.21.0<\/p>\n<h1>\u5b89\u88c5Docker\u548cDocker Compose\u3002<\/h1>\n<p>\u7531\u4e8e\u4f7f\u7528\u73af\u5883\u4e0d\u540c\uff0c\u5b89\u88c5\u65b9\u6cd5\u4e5f\u4e0d\u540c\uff0c\u6545\u6b64\u7701\u7565\u3002<br \/>\n\u5982\u679c\u8981\u5728Ubuntu 22.04\u4e0a\u8fdb\u884c\u5b89\u88c5\uff0c\u8bf7\u53c2\u8003\u4ee5\u4e0b\u6b65\u9aa4\u3002<\/p>\n<p>&nbsp;<\/p>\n<h1>\u5b89\u88c5ROS2\u7684Docker\u955c\u50cf<\/h1>\n<p>\u4f7f\u7528\u4e0b\u9762\u7684\u547d\u4ee4\u62c9\u53d6ROS2\u7684Docker\u955c\u50cf\u3002<\/p>\n<pre class=\"post-pre\"><code>docker pull osrf\/ros:humble-desktop\r\n<\/code><\/pre>\n<pre class=\"post-pre\"><code>docker images\r\n\r\nREPOSITORY                    TAG               IMAGE ID       CREATED         SIZE\r\nosrf\/ros                      humble-desktop      f63b30d9bcf7   3 weeks ago     3.11GB\r\n<\/code><\/pre>\n<h1>\u521b\u5efadocker-compose.yml\u6587\u4ef6<\/h1>\n<p>\u5728\u4e0d\u540c\u7684\u5bb9\u5668\u4e2d\u5206\u522b\u8fd0\u884cdemo_nodes\u7684talker\u548clistener\uff0c\u5e76\u8fdb\u884c\u901a\u4fe1\u7684\u793a\u4f8b\u3002<br \/>\n\u4e0d\u9700\u8981ROS_DOMAIN_ID\u73af\u5883\u53d8\u91cf\u3002<br \/>\n\u521b\u5efa\u4e86\u540d\u4e3aros2\u7684\u7f51\u7edc\uff0c\u5e76\u5728\u6bcf\u4e2a\u5bb9\u5668\u4e2d\u4f7f\u7528\u3002<\/p>\n<pre class=\"post-pre\"><code><span class=\"na\">version<\/span><span class=\"pi\">:<\/span> <span class=\"s1\">'<\/span><span class=\"s\">3'<\/span>\r\n<span class=\"c1\"># create docker network<\/span>\r\n<span class=\"na\">networks<\/span><span class=\"pi\">:<\/span>\r\n  <span class=\"na\">ros2<\/span><span class=\"pi\">:<\/span>\r\n    <span class=\"na\">driver<\/span><span class=\"pi\">:<\/span> <span class=\"s\">bridge<\/span>\r\n\r\n<span class=\"na\">services<\/span><span class=\"pi\">:<\/span>\r\n  <span class=\"na\">talker<\/span><span class=\"pi\">:<\/span>\r\n    <span class=\"na\">image<\/span><span class=\"pi\">:<\/span> <span class=\"s\">osrf\/ros:humble-desktop<\/span>\r\n    <span class=\"na\">container_name<\/span><span class=\"pi\">:<\/span> <span class=\"s\">talker<\/span>\r\n    <span class=\"na\">environment<\/span><span class=\"pi\">:<\/span>\r\n      <span class=\"pi\">-<\/span> <span class=\"s\">ROS_DOMAIN_ID=1<\/span>\r\n    <span class=\"na\">command<\/span><span class=\"pi\">:<\/span> <span class=\"s\">ros2 run demo_nodes_cpp talker<\/span>\r\n    <span class=\"na\">networks<\/span><span class=\"pi\">:<\/span>\r\n      <span class=\"pi\">-<\/span> <span class=\"s\">ros2<\/span>\r\n    <span class=\"na\">ipc<\/span><span class=\"pi\">:<\/span> <span class=\"s\">host<\/span>\r\n    <span class=\"na\">restart<\/span><span class=\"pi\">:<\/span> <span class=\"s\">always<\/span>\r\n\r\n  <span class=\"na\">listener<\/span><span class=\"pi\">:<\/span>\r\n    <span class=\"na\">image<\/span><span class=\"pi\">:<\/span> <span class=\"s\">osrf\/ros:humble-desktop<\/span>\r\n    <span class=\"na\">container_name<\/span><span class=\"pi\">:<\/span> <span class=\"s\">listener<\/span>\r\n    <span class=\"na\">environment<\/span><span class=\"pi\">:<\/span>\r\n      <span class=\"pi\">-<\/span> <span class=\"s\">ROS_DOMAIN_ID=1<\/span>\r\n    <span class=\"na\">command<\/span><span class=\"pi\">:<\/span> <span class=\"s\">ros2 run demo_nodes_cpp listener<\/span>\r\n    <span class=\"na\">networks<\/span><span class=\"pi\">:<\/span>\r\n      <span class=\"pi\">-<\/span> <span class=\"s\">ros2<\/span>\r\n    <span class=\"na\">ipc<\/span><span class=\"pi\">:<\/span> <span class=\"s\">host<\/span>\r\n    <span class=\"na\">restart<\/span><span class=\"pi\">:<\/span> <span class=\"s\">always<\/span>\r\n<\/code><\/pre>\n<p>\u4ee5\u4e0b\u662f\u5b98\u65b9\u6587\u4ef6\u4e2d\u7684\u6700\u5c0f\u793a\u4f8b\u3002<\/p>\n<pre class=\"post-pre\"><code><span class=\"na\">version<\/span><span class=\"pi\">:<\/span> <span class=\"s1\">'<\/span><span class=\"s\">2'<\/span>\r\n\r\n<span class=\"na\">services<\/span><span class=\"pi\">:<\/span>\r\n  <span class=\"na\">talker<\/span><span class=\"pi\">:<\/span>\r\n    <span class=\"na\">image<\/span><span class=\"pi\">:<\/span> <span class=\"s\">osrf\/ros:humble-desktop<\/span>\r\n    <span class=\"na\">command<\/span><span class=\"pi\">:<\/span> <span class=\"s\">ros2 run demo_nodes_cpp talker<\/span>\r\n  <span class=\"na\">listener<\/span><span class=\"pi\">:<\/span>\r\n    <span class=\"na\">image<\/span><span class=\"pi\">:<\/span> <span class=\"s\">osrf\/ros:humble-desktop<\/span>\r\n    <span class=\"na\">command<\/span><span class=\"pi\">:<\/span> <span class=\"s\">ros2 run demo_nodes_cpp listener<\/span>\r\n    <span class=\"na\">depends_on<\/span><span class=\"pi\">:<\/span>\r\n      <span class=\"pi\">-<\/span> <span class=\"s\">talker<\/span>\r\n<\/code><\/pre>\n<p>depends_on\u30aa\u30d7\u30b7\u30e7\u30f3\u306ftalker \u30b3\u30f3\u30c6\u30ca\u304c\u8d77\u52d5\u3057\u3066\u304b\u3089listener\u30b3\u30f3\u30c6\u30ca\u304c\u8d77\u52d5\u3059\u308b\u8a2d\u5b9a\u3002<\/p>\n<h1>\u6267\u884c<\/h1>\n<p>docker-compose.yml\u306e\u3042\u308b\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u3067\u4ee5\u4e0b\u3092\u5b9f\u884c\u3057talker\u30b3\u30f3\u30c6\u30ca\u3068listene\u30b3\u30f3\u30c6\u30ca\u3092\u307e\u3068\u3081\u3066\u8d77\u52d5\u3059\u308b\u3002<\/p>\n<pre class=\"post-pre\"><code>docker compose up\r\n<\/code><\/pre>\n<p>\u6216\u8005<\/p>\n<pre class=\"post-pre\"><code>docker compose <span class=\"nt\">-f<\/span> docker-compose.yml up\r\n<\/code><\/pre>\n<p>\u5982\u679c\u51fa\u73b0\u4ee5\u4e0b\u8fd9\u6837\u7684\u6d88\u606f\uff0c\u5c31\u8868\u793a\u6210\u529f\u3002<\/p>\n<pre class=\"post-pre\"><code>Creating network <span class=\"s2\">\"ros2_docker_compose_ros2\"<\/span> with driver <span class=\"s2\">\"bridge\"<\/span>\r\nCreating ros2_docker_compose_listener_1 ... <span class=\"k\">done\r\n<\/span>Creating ros2_docker_compose_talker_1   ... <span class=\"k\">done\r\n<\/span>Attaching to ros2_docker_compose_talker_1, ros2_docker_compose_listener_1\r\ntalker_1    | <span class=\"o\">[<\/span>INFO] <span class=\"o\">[<\/span>1664355563.968462971] <span class=\"o\">[<\/span>talker]: Publishing: <span class=\"s1\">'Hello World: 1'<\/span>\r\nlistener_1  | <span class=\"o\">[<\/span>INFO] <span class=\"o\">[<\/span>1664355563.969353969] <span class=\"o\">[<\/span>listener]: I heard: <span class=\"o\">[<\/span>Hello World: 1]\r\ntalker_1    | <span class=\"o\">[<\/span>INFO] <span class=\"o\">[<\/span>1664355564.968472582] <span class=\"o\">[<\/span>talker]: Publishing: <span class=\"s1\">'Hello World: 2'<\/span>\r\nlistener_1  | <span class=\"o\">[<\/span>INFO] <span class=\"o\">[<\/span>1664355564.969369471] <span class=\"o\">[<\/span>listener]: I heard: <span class=\"o\">[<\/span>Hello World: 2]\r\ntalker_1    | <span class=\"o\">[<\/span>INFO] <span class=\"o\">[<\/span>1664355565.969120487] <span class=\"o\">[<\/span>talker]: Publishing: <span class=\"s1\">'Hello World: 3'<\/span>\r\nlistener_1  | <span class=\"o\">[<\/span>INFO] <span class=\"o\">[<\/span>1664355565.969678627] <span class=\"o\">[<\/span>listener]: I heard: <span class=\"o\">[<\/span>Hello World: 3]\r\n<\/code><\/pre>\n<p>\u7d42\u4e86\u3059\u308b\u5834\u5408<\/p>\n<pre class=\"post-pre\"><code>docker compose down\r\n<\/code><\/pre>\n<div>\n<p>down \u3067\u7d42\u4e86\u3059\u308b\u3068\u30b3\u30f3\u30c6\u30ca\u3082\u524a\u9664\u3055\u308c\u308b\u306e\u3067\u6ce8\u610f<\/p>\n<\/div>\n<h3>\u30b3\u30f3\u30c6\u30ca\u5185\u306b\u5165\u3063\u3066\u30c8\u30d4\u30c3\u30af\u306e\u4e2d\u8eab\u3092\u898b\u305f\u3044\u5834\u5408<\/h3>\n<p>docker exec\u3067\u3069\u308c\u304b\u306e\u30b3\u30f3\u30c6\u30ca\u306b\u5165\u3063\u3066ros2 \u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c<\/p>\n<pre class=\"post-pre\"><code>docker <span class=\"nb\">exec<\/span> <span class=\"nt\">-it<\/span> listener bash\r\nroot@0004e67a0578:\/# <span class=\"nb\">source<\/span> \/opt\/ros\/humble\/setup.bash\r\nroot@0004e67a0578:\/# ros2 topic list\r\nroot@0004e67a0578:\/# ros2 topic <span class=\"nb\">echo<\/span> \/chatter\r\n<\/code><\/pre>\n<h3>\u30db\u30b9\u30c8PC\u306eROS2\u3067\u30c8\u30d4\u30c3\u30af\u306e\u4e2d\u8eab\u3092\u898b\u305f\u3044\u5834\u5408<\/h3>\n<pre class=\"post-pre\"><code><span class=\"nb\">export <\/span><span class=\"nv\">ROS_DOMAIN_ID<\/span><span class=\"o\">=<\/span>1\r\nros2 topic <span class=\"nb\">echo<\/span> \/chatter\r\n<\/code><\/pre>\n<h1>\u8bf7\u53c2\u8003<\/h1>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u306f\u3058\u3081\u306b Docker Compose\u3092\u4f7f\u3063\u3066demo_nodes\u306elistener\u3068talker\u3092\u5225\u3005\u306eDo [&hellip;]<\/p>\n","protected":false},"author":9,"featured_media":0,"comment_status":"closed","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[],"class_list":["post-35224","post","type-post","status-publish","format-standard","hentry","category-uncategorized"],"yoast_head":"<!-- This site is optimized with the Yoast SEO Premium plugin v21.5 (Yoast SEO v21.5) - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<title>Docker Compose\u3067ROS2\u30ce\u30fc\u30c9\u3092\u8d77\u52d5\u3059\u308b - Blog - Silicon Cloud<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/www.silicloud.com\/zh\/blog\/docker-compose\u3067ros2\u30ce\u30fc\u30c9\u3092\u8d77\u52d5\u3059\u308b\/\" \/>\n<meta property=\"og:locale\" content=\"zh_CN\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" 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