docker ros development with the RPI

asked 2019-11-26 17:25:27 -0600

wintermute gravatar image

Hello,

I managed to follow the tutorial, and I can deploy docker images on a rpi4, running hypriot os.

I am planning to completely dockerize my workflow, and I even managed to mount a local catkin_ws to my docker instance, which works out quite cool.

How can I catkin_make on my laptop (being x64 architecture) and then run this code on the docker instance on a Rasppberry PI, (RPI being arm architecture)

Thank you

-C.A.

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Comments

Quick suggestion: look into cross-compilation with Docker containers.

gvdhoorn gravatar imagegvdhoorn ( 2019-11-27 01:59:11 -0600 )edit

yes, this is what I have been doing but could not really find a comprehensive tutorial. I am new to docker. right now I am mounting /data/catkin_ws/src to the docker host and catkin_making there.

I noticed there are two ways:

  1. cross compile on the host machine and then use it.
  2. you can also pull the docker image to a qemu instance on the host computer, do the compilation, and then somehow transfer the binaries to docker host

I found 2. is easier.

I am having very good time in terms of ros development with hypriotos.

wintermute gravatar imagewintermute ( 2019-11-27 14:31:38 -0600 )edit

For ros1, #2 has been my approach, given its story for cross compilation was never quite there. But things are looking better for ros2 in terms of #1, though still using docker to simplify tool chain setup: https://github.com/ros-tooling/cross_...

ruffsl gravatar imageruffsl ( 2019-12-03 22:45:18 -0600 )edit