win11安装ros2环境(docker)
<ol>
<li>
<p>安装wsl2
<a href="https://learn.microsoft.com/zh-cn/windows/wsl/install">https://learn.microsoft.com/zh-cn/windows/wsl/install</a></p>
</li>
<li>
<p>安装docker desktop
下载
<a href="https://www.docker.com/products/docker-desktop/">https://www.docker.com/products/docker-desktop/</a>
Setting - Resources - Advanced - Disk image location选一个剩余空间较大的磁盘存储镜像信息
Setting - Resources - Advanced - WSL integration选择一个WSL版本进行关联
Setting - Docker Engine，填入以下内容</p>
<pre><code class="language-bash">{
&quot;builder&quot;: {
&quot;gc&quot;: {
&quot;defaultKeepStorage&quot;: &quot;20GB&quot;,
&quot;enabled&quot;: true
}
},
&quot;experimental&quot;: false,
&quot;registry-mirrors&quot;: [
&quot;https://dockerhub.icu&quot;,
&quot;https://docker.m.daocloud.io&quot;,
&quot;https://docker.mirrors.ustc.edu.cn&quot;
]
}</code></pre>
</li>
<li>
<p>安装下载ros2镜像</p>
<pre><code class="language-bash">#下载镜像
docker pull registry.cn-hangzhou.aliyuncs.com/flylinux/ailib:ubuntu22.04-humble
#镜像更改短名
docker tag registry.cn-hangzhou.aliyuncs.com/flylinux/ailib:ubuntuubuntu22.04-humble ailib:ubuntu22.04-humble
#删除长名镜像
docker rmi registry.cn-hangzhou.aliyuncs.com/flylinux/ailib:ubuntu22.04-humble</code></pre>
</li>
<li>
<p>创建ros2容器</p>
<pre><code class="language-bash">#删除现有容器
docker container rm -f ubuntu-ros-humble
#创建新容器
docker create \
-t \
-v /dev:/dev \
-v $HOME/share/ros2_ws/src:/root/ros2_ws/src \
-v $HOME/share/.vscode-server:/root/.vscode-server \
--privileged=true \
--network=host \
--name ubuntu-ros-humble \
ailib:ubuntu22.04-humble \
/bin/sh -c &quot;echo root:1 | chpasswd &amp;&amp; echo 1 |vncpasswd -f &gt; ~/.vnc/passwd &amp;&amp; /usr/bin/startup.sh&quot;
#修改容器内ssh端口(与主机的22冲突)
#将容器内配置文件复制到宿主机
docker cp ubuntu-ros-humble:/etc/ssh/sshd_config ~/sshd_config
#将端口从22修改为2201
sed -i &quot;s/#Port 22/Port 2201/g&quot; ~/sshd_config
#将修改好的端口复制到容器，删除本地临时文件
docker cp ~/sshd_config ubuntu-ros-humble:/etc/ssh/sshd_config
rm ~/sshd_config
#启动容器
docker start ubuntu-ros-humble</code></pre>
</li>
<li>
<p>为ubuntu-ros-humble容器root用户创建ssh密钥</p>
</li>
<li>
<p>vscode配置开发环境</p>
</li>
<li>功能测试</li>
</ol>