Nav2 is the Navigation stack for ROS2 (foxy). This post lists out the step required to setup and test Nav2 stack inside a Docker container.

Install Docker by going though the Docker Docs.

Pull the ROS2 docker image from hub.docker.com:

docker pull tsadarsh/ros2-foxy

To view the GUI applications like RViz and Gazebo, enable clients to access your device XServer:

xhost +

Set DISPLAY variable and mount X11 unix-domain socket to pipe the GUI applications outside the container:

docker run -it -e DISPLAY=$DISPLAY -v /tmp/.X11-unix/:/tmp/.X11-unix/ tsadarsh/ros2-foxy

Run a sudo apt update

Follow the Getting started guide from the official ROS2 docs and install:

sudo apt install ros-foxy-navigation2
sudo apt install ros-foxy-nav2-bringup

Install the Turtlebot 3 packages:

sudo apt install ros-foxy-turtlebot3*

To run the example, first source the foxy setup.bash and set the environment variables:

source /opt/ros/<ros2-distro>/setup.bash
export TURTLEBOT3_MODEL=waffle
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/opt/ros/<ros2-distro>/share/turtlebot3_gazebo/models

Finally launch the example turtlebot3 simulation:

ros2 launch nav2_bringup tb3_simulation_launch.py headless:=False

Note: Gazebo initially takes 5-10 minutes to start, download and cache all the required models. Until then the screen appears to be frozen.

If you encounter this error: libGL error: MESA-LOADER: failed to open amdgpu: /usr/lib/dri/amdgpu_dri.so: cannot open shared object file: No such file or directory (search paths /usr/lib/x86_64-linux-gnu/dri:\$${ORIGIN}/dri:/usr/lib/dri, suffix _dri), then mount /dev/dri to your container:

docker run -it -e DISPLAY=$DISPLAY -v /tmp/.X11-unix/:/tmp/.X11-unix/ -v /dev/dri:/dev/dri tsadarsh/ros2-foxy