docker-ros2-development

Name: docker-ros2-development
Author: arpitg1304

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How to install docker-ros2-development?

arpitg1304/robotics-agent-skills/docker-ros2-development

$npx -y skills add arpitg1304/robotics-agent-skills --skill docker-ros2-development

Installs into the current project.

Summary

Best practices for Docker-based ROS2 development including multi-stage Dockerfiles, docker-compose for multi-container robotic systems, DDS discovery across containers, GPU passthrough for perception, and dev-vs-deploy container patterns. Use this skill when containerizing ROS2 w

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SKILL.md

1	# Docker-Based ROS2 Development Skill
2
3	## When to Use This Skill
4
5	- Writing Dockerfiles for ROS2 workspaces with colcon builds
6	- Setting up docker-compose for multi-container robotic systems
7	- Debugging DDS discovery failures between containers (CycloneDDS, FastDDS)
8	- Configuring GPU passthrough with NVIDIA Container Toolkit for perception nodes
9	- Forwarding X11 or Wayland displays for rviz2 and rqt tools
10	- Managing USB device passthrough for cameras, LiDARs, and serial devices
11	- Building CI/CD pipelines with Docker-based ROS2 builds and test runners
12	- Creating devcontainer configurations for VS Code with ROS2 extensions
13	- Optimizing Docker layer caching for colcon workspace builds
14	- Designing dev-vs-deploy container strategies with multi-stage builds
15
16	## ROS2 Docker Image Hierarchy
17
18	Official OSRF images follow a layered hierarchy. Always choose the smallest base that satisfies dependencies.
19
20	```
21	┌──────────────────────────────────────────────────────────────────┐
22	│ ros:<distro>-desktop-full (~3.5 GB) │
23	│ ┌────────────────────────────────────────────────────────────┐ │
24	│ │ ros:<distro>-desktop (~2.8 GB) │ │
25	│ │ ┌──────────────────────────────────────────────────────┐ │ │
26	│ │ │ ros:<distro>-perception (~2.2 GB) │ │ │
27	│ │ │ ┌────────────────────────────────────────────────┐ │ │ │
28	│ │ │ │ ros:<distro>-ros-base (~1.1 GB) │ │ │ │
29	│ │ │ │ ┌──────────────────────────────────────────┐ │ │ │ │
30	│ │ │ │ │ ros:<distro>-ros-core (~700 MB) │ │ │ │ │
31	│ │ │ │ └──────────────────────────────────────────┘ │ │ │ │
32	│ │ │ └────────────────────────────────────────────────┘ │ │ │
33	│ │ └──────────────────────────────────────────────────────┘ │ │
34	│ └────────────────────────────────────────────────────────────┘ │
35	└──────────────────────────────────────────────────────────────────┘
36	```
37
38	\| Image Tag \| Base OS \| Size \| Contents \| Use Case \|
39	\|--------------------------\|----------------\|---------\|---------------------------------------------\|-------------------------------------\|
40	\| `ros:humble-ros-core` \| Ubuntu 22.04 \| ~700 MB \| rclcpp, rclpy, rosout, launch \| Minimal runtime for single nodes \|
41	\| `ros:humble-ros-base` \| Ubuntu 22.04 \| ~1.1 GB \| ros-core + common_interfaces, rosbag2 \| Most production deployments \|
42	\| `ros:humble-perception` \| Ubuntu 22.04 \| ~2.2 GB \| ros-base + image_transport, cv_bridge, PCL \| Camera/lidar perception pipelines \|
43	\| `ros:humble-desktop` \| Ubuntu 22.04 \| ~2.8 GB \| perception + rviz2, rqt, demos \| Development with GUI tools \|
44	\| `ros:jazzy-ros-core` \| Ubuntu 24.04 \| ~750 MB \| rclcpp, rclpy, rosout, launch \| Minimal runtime (Jazzy/Noble) \|
45	\| `ros:jazzy-ros-base` \| Ubuntu 24.04 \| ~1.2 GB \| ros-core + common_interfaces, rosbag2 \| Production deployments (Jazzy) \|
46
47	## Multi-Stage Dockerfiles for ROS2
48
49	### Dev Stage
50
51	The development stage includes build tools, debuggers, and editor support for interactive use.
52
53	```dockerfile
54	FROM ros:humble-desktop AS dev
55	RUN apt-get update && apt-get install -y --no-install-recommends \
56	build-essential cmake gdb python3-pip \
57	python3-colcon-common-extensions python3-rosdep \
58	ros-humble-ament-lint-auto ros-humble-ament-cmake-pytest \
59	ccache \
60	&& rm -rf /var/lib/apt/lists/*
61	ENV CCACHE_DIR=/ccache
62	ENV CC="ccache gcc"
63	ENV CXX="ccache g++"
64	```
65
66	### Build Stage
67
68	Copies only `src/` and `package.xml` files to maximize cache hits during dependency resolution.
69
70	```dockerfile
71	FROM ros:humble-ros-base AS build
72	RUN apt-get update && apt-get install -y --no-install-recommends \

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docker-ros2-development

320stars44forks

View on GitHub

How to install docker-ros2-development?

arpitg1304/robotics-agent-skills/docker-ros2-development

$npx -y skills add arpitg1304/robotics-agent-skills --skill docker-ros2-development

Installs into the current project.

Summary

Files · 1

View on GitHub

SKILL.md

1	# Docker-Based ROS2 Development Skill
2
3	## When to Use This Skill
4
5	- Writing Dockerfiles for ROS2 workspaces with colcon builds
6	- Setting up docker-compose for multi-container robotic systems
7	- Debugging DDS discovery failures between containers (CycloneDDS, FastDDS)
8	- Configuring GPU passthrough with NVIDIA Container Toolkit for perception nodes
9	- Forwarding X11 or Wayland displays for rviz2 and rqt tools
10	- Managing USB device passthrough for cameras, LiDARs, and serial devices
11	- Building CI/CD pipelines with Docker-based ROS2 builds and test runners
12	- Creating devcontainer configurations for VS Code with ROS2 extensions
13	- Optimizing Docker layer caching for colcon workspace builds
14	- Designing dev-vs-deploy container strategies with multi-stage builds
15
16	## ROS2 Docker Image Hierarchy
17
18	Official OSRF images follow a layered hierarchy. Always choose the smallest base that satisfies dependencies.
19
20	```
21	┌──────────────────────────────────────────────────────────────────┐
22	│ ros:<distro>-desktop-full (~3.5 GB) │
23	│ ┌────────────────────────────────────────────────────────────┐ │
24	│ │ ros:<distro>-desktop (~2.8 GB) │ │
25	│ │ ┌──────────────────────────────────────────────────────┐ │ │
26	│ │ │ ros:<distro>-perception (~2.2 GB) │ │ │
27	│ │ │ ┌────────────────────────────────────────────────┐ │ │ │
28	│ │ │ │ ros:<distro>-ros-base (~1.1 GB) │ │ │ │
29	│ │ │ │ ┌──────────────────────────────────────────┐ │ │ │ │
30	│ │ │ │ │ ros:<distro>-ros-core (~700 MB) │ │ │ │ │
31	│ │ │ │ └──────────────────────────────────────────┘ │ │ │ │
32	│ │ │ └────────────────────────────────────────────────┘ │ │ │
33	│ │ └──────────────────────────────────────────────────────┘ │ │
34	│ └────────────────────────────────────────────────────────────┘ │
35	└──────────────────────────────────────────────────────────────────┘
36	```
37
38	\| Image Tag \| Base OS \| Size \| Contents \| Use Case \|
39	\|--------------------------\|----------------\|---------\|---------------------------------------------\|-------------------------------------\|
40	\| `ros:humble-ros-core` \| Ubuntu 22.04 \| ~700 MB \| rclcpp, rclpy, rosout, launch \| Minimal runtime for single nodes \|
41	\| `ros:humble-ros-base` \| Ubuntu 22.04 \| ~1.1 GB \| ros-core + common_interfaces, rosbag2 \| Most production deployments \|
42	\| `ros:humble-perception` \| Ubuntu 22.04 \| ~2.2 GB \| ros-base + image_transport, cv_bridge, PCL \| Camera/lidar perception pipelines \|
43	\| `ros:humble-desktop` \| Ubuntu 22.04 \| ~2.8 GB \| perception + rviz2, rqt, demos \| Development with GUI tools \|
44	\| `ros:jazzy-ros-core` \| Ubuntu 24.04 \| ~750 MB \| rclcpp, rclpy, rosout, launch \| Minimal runtime (Jazzy/Noble) \|
45	\| `ros:jazzy-ros-base` \| Ubuntu 24.04 \| ~1.2 GB \| ros-core + common_interfaces, rosbag2 \| Production deployments (Jazzy) \|
46
47	## Multi-Stage Dockerfiles for ROS2
48
49	### Dev Stage
50
51	The development stage includes build tools, debuggers, and editor support for interactive use.
52
53	```dockerfile
54	FROM ros:humble-desktop AS dev
55	RUN apt-get update && apt-get install -y --no-install-recommends \
56	build-essential cmake gdb python3-pip \
57	python3-colcon-common-extensions python3-rosdep \
58	ros-humble-ament-lint-auto ros-humble-ament-cmake-pytest \
59	ccache \
60	&& rm -rf /var/lib/apt/lists/*
61	ENV CCACHE_DIR=/ccache
62	ENV CC="ccache gcc"
63	ENV CXX="ccache g++"
64	```
65
66	### Build Stage
67
68	Copies only `src/` and `package.xml` files to maximize cache hits during dependency resolution.
69
70	```dockerfile
71	FROM ros:humble-ros-base AS build
72	RUN apt-get update && apt-get install -y --no-install-recommends \

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