Getting Started

Getting Started

There are multiple ways to get started with having ROS2 environment with code installed.

I recommend Docker or UoL Apptainer and transitioning to Dual Boot once you have done intermediate docs.

Docker (Recommended for beginners)

1. Install Docker Desktop

2. Install X11 server for GUI support:

   • macOS: Install XQuartz and run it
   • Windows: Install VcXsrv and start XLaunch with default settings

3. Configure X11 server:

   • macOS: In XQuartz, go to XQuartz > Settings > Security and check "Allow connections from network clients"
   • Windows: In VcXsrv/XLaunch, ensure "Disable access control" is checked when starting XLaunch

4. Pull ROS2 Jazzy Image

   docker pull osrf/ros:jazzy-desktop

5. Create container with GUI Support

   # Allow Docker to connect to X11
   xhost +local:docker
   
   # Create container
   docker run -it --name gra-dev \
       -v /tmp/.X11-unix:/tmp/.X11-unix \
       -e DISPLAY=$DISPLAY \
       --network host \
       osrf/ros:jazzy-desktop

   Test GUI: xclock (should open a clock window)

6. Stop and restart container

   • Stop: docker stop gra-dev
   • Start: docker start -i gra-dev (then run xhost +local:docker again)

7. Dev Containers

   • Install Dev Containers extension in VS Code
   • Click bottom left-corner and attach to gra-dev container

University Apptainer

UoL students: See apptainer setup

Dual Boot

Ideal if you have NVIDIA GPU.

Refer to this.