ubuntu系统ros2环境(docker)

<ol> <li> <p>安装docker</p> </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 &amp;quot;echo root:1 | chpasswd &amp;amp;&amp;amp; echo 1 |vncpasswd -f &amp;gt; ~/.vnc/passwd &amp;amp;&amp;amp; /usr/bin/startup.sh&amp;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 &amp;quot;s/#Port 22/Port 2201/g&amp;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>vscode配置开发环境</p> </li> <li>功能测试</li> </ol>