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Build Docker image

docker build -t ros1_template_ws_img .

Set up X server

xhost +local:

Run Docker container

  • Replace /PATH/TO/ros1_template_ws with the absolute path to your ROS workspace on your host machine
  • Replace USERNAME with the username specified in the Dockerfile or your host system's username
docker run -it \
    -e DISPLAY=$DISPLAY \
    -v /tmp/.X11-unix:/tmp/.X11-unix \
    -v /PATH/TO/ros1_template_ws:/home/USERNAME/ros1_template_ws \
    --user USERNAME \
    --name ros1_template_ws_cont \
    ros1_template_ws_img /bin/bash

Reconnect to the container

docker start ros1_template_ws_cont
docker attach ros1_template_ws_cont

Enter the container from another terminal

docker exec -it ros1_template_ws_cont /bin/bash