快速構建并銷毀一個完整的ROS套件。
關于容器的更多細節可以參考linuxcontainer.org

配置容器

基礎lxd創建工作

安裝lxd

~$ sudo snap install lxd

安裝后用

~$ sudo lxc info

查看信息如下：

If this is your first time running LXD on this machine, you should also run: lxd init To start your first instance, try: lxc launch ubuntu:18.04 …… …… ……

初始化lxd
根據提示運行

~$ sudo lxd init

按照默認一路回車

Would you like to use LXD clustering? (yes/no) [default=no]: Do you want to configure a new storage pool? (yes/no) [default=yes]: Name of the new storage pool [default=default]: Name of the storage backend to use (btrfs, dir, lvm, zfs, ceph) [default=zfs]: Create a new ZFS pool? (yes/no) [default=yes]: Would you like to use an existing empty block device (e.g. a disk or partition)? (yes/no) [default=no]: Size in GB of the new loop device (1GB minimum) [default=30GB]: Would you like to connect to a MAAS server? (yes/no) [default=no]: Would you like to create a new local network bridge? (yes/no) [default=yes]: What should the new bridge be called? [default=lxdbr0]: What IPv4 address should be used? (CIDR subnet notation, “auto” or “none”) [default=auto]: What IPv6 address should be used? (CIDR subnet notation, “auto” or “none”) [default=auto]: Would you like the LXD server to be available over the network? (yes/no) [default=no]: Would you like stale cached images to be updated automatically? (yes/no) [default=yes] Would you like a YAML "lxd init" preseed to be printed? (yes/no) [default=no]:

查看lxc的profile

~$ sudo lxc profile list +---------+---------------------+---------+ | NAME | DESCRIPTION | USED BY | +---------+---------------------+---------+ | default | Default LXD profile | 0 | +---------+---------------------+---------+

創建ROS lxc配置

創建lxc的ros profile

~$ sudo lxc profile create rosp Profile ros created

修改lxc的ros profile

~$ sudo lxc profile edit ros

修改文件至如下：

### This is a YAML representation of the profile. ### Any line starting with a '# will be ignored. ### ### A profile consists of a set of configuration items followed by a set of ### devices. ### ### An example would look like: ### name: onenic ### config: ### raw.lxc: lxc.aa_profile=unconfined ### devices: ### eth0: ### nictype: bridged ### parent: lxdbr0 ### type: nic ### ### Note that the name is shown but cannot be changedconfig: ### X Window顯示environment.DISPLAY: :0 ### 從宿主機映射userid至容器raw.idmap: both 1001 1000 ### 增加ros repositoriesuser.user-data: |#cloud-configruncmd:- "apt-key adv --fetch-keys https://raw.githubusercontent.com/ros/rosdistro/master/ros.key"- "apt-add-repository http://packages.ros.org/ros2/ubuntu"- "apt-add-repository http://packages.ros.org/ros/ubuntu" description: ROSX0:path: /tmp/.X11-unix/X0source: /tmp/.X11-unix/X0type: disk ### 網絡設置為橋接eth0:name: eth0nictype: bridgedparent: lxdbr0type: nicroot:path: /pool: defaulttype: disk name: ros used_by: []

說明：

查看現有id可以用如下命令

~$ id uid=1001(xh) gid=1001(xh) groups=1001(xh),27(sudo)

repositories的地址，參照ROS官方安裝手冊中增加ROS 2和ROS 1的repositories

使用X0設備用作XWindow顯示，若有多張顯卡，也可以使用其他顯卡

~$ ls /tmp/.X11-unix/ X1024 X1025

查看現有網絡設置可以用如下命令

~$ ifconfig eno1: flags=4163<UP,BROADCAST,RUNNING,MULTICAST> mtu 1500inet 192.168.46.29 netmask 255.255.255.0 broadcast 192.168.46.255inet6 fe80::bb30:ed6a:6ec:6bbd prefixlen 64 scopeid 0x20<link>ether 48:0f:cf:37:a8:a4 txqueuelen 1000 (Ethernet)RX packets 26905 bytes 4373082 (4.3 MB)RX errors 0 dropped 0 overruns 0 frame 0TX packets 15366 bytes 1836647 (1.8 MB)TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0device interrupt 20 memory 0xf7800000-f7820000lo: flags=73<UP,LOOPBACK,RUNNING> mtu 65536inet 127.0.0.1 netmask 255.0.0.0inet6 ::1 prefixlen 128 scopeid 0x10<host>loop txqueuelen 1000 (Local Loopback)RX packets 195 bytes 16883 (16.8 KB)RX errors 0 dropped 0 overruns 0 frame 0TX packets 195 bytes 16883 (16.8 KB)TX errors 0 dropped 0 overruns 0 carrier 0 collisions 0

取可連接外網的網卡名

確認ros profile創建成功

~$ sudo lxc profile list +---------+---------------------+---------+ | NAME | DESCRIPTION | USED BY | +---------+---------------------+---------+ | default | Default LXD profile | 0 | +---------+---------------------+---------+ | ros | ROS | 0 | +---------+---------------------+---------+

啟動容器

使用lxc launch創建相關的ros容器
我們這里使用ubuntu 20.04的鏡像

~$ sudo lxc launch -p ros ubuntu:20.04 rosgalactic Creating rosgalactic Starting rosgalactic

用lxc exec來啟動容器內的bash shell

~$ sudo lxc exec rosgalactic -- bash root@rosgalactic:~#

在默認情況下，shell是以root賬戶啟動的
用exit命令可以退出該shell。

指定用戶啟動
我們可以用–login來指定啟動的賬戶

~$ sudo lxc exec rosgalactic -- su --login ubuntu To run a command as administrator (user "root"), use "sudo <command>". See "man sudo_root" for details.ubuntu@rosgalactic:~$ id uid=1000(ubuntu) gid=1000(ubuntu) groups=1000(ubuntu),4(adm),20(dialout),24(cdrom),25(floppy),27(sudo),29(audio),30(dip),44(video),46(plugdev),117(netdev),118(lxd) ubuntu@rosgalactic:~$

安裝ROS

ubuntu@rosgalactic:~$ sudo apt install ros-galactic-desktop

關于ROS本身安裝中的問題請參照ROS2學習（一）.Ubuntu 20.04安裝ROS2 Galactic 。

啟動確認

ubuntu@rosgalactic:~$ rqt

添加快速啟動參數

~$ sudo lxc alias add ubuntu 'exec @ARGS@ --user 1000 --group 1000 --env HOME=/home/ubuntu -- /bin/bash --login' ~$ sudo lxc alias list +--------+-----------------------------------------------------------------------------------+ | ALIAS | TARGET | +--------+-----------------------------------------------------------------------------------+ | ubuntu | exec @ARGS@ --user 1000 --group 1000 --env HOME=/home/ubuntu -- /bin/bash --login | +--------+-----------------------------------------------------------------------------------+ ~$ sudo lxc ubuntu rosgalactic ubuntu@rosgalactic:~$ source /opt/ros/galactic/setup.bash ubuntu@rosgalactic:~$ ros2 run demo_nodes_cpp talker

至此，大功告成！

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