使用docker file构建镜像
docker build -t ahren001/ros:20201117
使用容器及镜像的操作
ahren@ahren:~$ docker images #镜像列表
REPOSITORY TAG IMAGE ID CREATED SIZE
ros v1.1 1ce4163432cc 20 hours ago 3.32GB
ahren001/demo v1.0 854c47df3ea4 22 hours ago 2.21GB
ros/demo v1.0 854c47df3ea4 22 hours ago 2.21GB
ros 1021 8c9e71d89a91 26 hours ago 2.11GB
ubuntu xenial 096efd74bb89 3 weeks ago 127MB
candle mapping 9c20a7656a1f 3 weeks ago 7.14GB
ctirobot/mapping cartographer_ros 1444adfe2590 4 weeks ago 6.73GB
ahren@ahren:~$ docker run -it ahren001/demo:v1.0 #进入镜像
root@2108660433ee:/#
ahren@ahren:~/script$ docker container ls #容器列表
CONTAINER ID IMAGE COMMAND CREATED STATUS PORTS NAMES
5ba61efc1193 ros:1104 "bash" 3 days ago Up 3 days cocky_goodall
docker stop $(docker ps -a -q) #停止所有的容器
docker rm $(docker ps -a -q) #只删除单个时把后面的变量改为image id即可
docker rmi -f $(docker images -q) # -f强制删除images
root@cti-KL35:/home/cti# docker cp 648e52f7fc18:/root/.ros/cloud_scheduling_node/cloud_scheduling_node.log ~/
root@cti-KL35:/home/cti# docker cp #容器-主机 optimistic_cray:/root/.ros/cloud_scheduling_node/cloud_scheduling_node.log ~/
root@cti-KL35:/home/cti# docker cp cloud_scheduling_node.log optimistic_cray:/root/.ros/cloud_scheduling_node/ #主机-容器
保存对容器的修改，存为镜像
docker ps #查看正在运行的容器
CONTAINER ID IMAGE COMMAND CREATED STATUS PORTS NAMES
9dfc41f9c866 ahren001/demo:v1.0 "bash" 29 minutes ago Up 29 minutes
docker exec -it 9dfc41f9c866 bash #查看id，进入容器安装或卸载、cp等操作，修改完后exit退出容器
docker commit 3bd0eef03413 demo：v1.3 #提交你刚才修改的镜像，新的镜像名称为demo，版本为v1.3
docker镜像的备份与恢复
#备份 恢复tar
docker export 680d9b254b0b > ros:1026.tar #导出，区分容器ID
sudo docker import - ros:1758 < 1758.tar #导入 - 表示名字
#更换镜像的名称
docker tag 镜像id 镜像名字:版本号
docker与ros主机相互通信（网络/USB端口/挂载主机目录）
docker run -it --network=host ros:1026 bash
#与本地主机网络通信
#挂载本地主机目录到容器 /data
ahren@ahren:~$ docker run --name test102 -it -v /home/ahren:/data ros:1104 /bin/bash
#启动容器增加特权参数
docker run --privileged -it \
#网络时间同步
-v /run/dbus/system_bus_socket:/run/dbus/system_bus_socket:ro \
#挂载本地文件目录
-v /home/cti:/home \
#容器内访问宿主机硬件资源
-v /dev/front_lidar:/dev/front_lidar -v /dev/rear_lidar:/dev/rear_lidar \
-v /dev/rfid:/dev/rfid \
-v /dev/robot_base:/dev/robot_base \
-v /dev/ttyACM0:/dev/ttyACM0 \
-v /dev/ttyACM1:/dev/ttyACM1 \
-v /dev/v4l/by-id/usb-KINGSEN_KS2A418-60-video-index0:/dev/v4l/by-id/usb-KINGSEN_KS2A418-60-video-index0 \
#访问音频硬件
-v /dev/lora:/dev/lora \
#启动镜像名称 ros1126,伪终端 bash
ros1112 bash
root@cti-KL35:/# source /opt/cti/kinetic/setup.bash
root@cti-KL35:/# roslaunch br_bringup start_br.launch
docker 镜像上传到docker hub
docker push 注册用户名/镜像名 #注意tag 镜像的时候，要加上自己docker hub 的用户名，我这里是ahren001
ahren@ahren:~/script$ docker push ahren001/ros:1029
The push refers to repository [docker.io/ahren001/ros]
74c4d73b45f0: Pushed
1029: digest: sha256:629feda27561313fa041ba6dead6489311de12f9a6e0723454dde33c3a79cd63 size: 531
