GPU + USB + micro-ROS 的 docker-compose.yml + Dockerfile 套件組

 以下是完整的 ROS 2 Humble 環境組合：

🎯 支援 NVIDIA GPU、USB 裝置（如 /dev/ttyACM0）、micro-ROS Agent、自訂 ubuntu 用戶，並透過 docker-compose 一鍵啟動

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📁 目錄結構

ros2_microros_gpu_docker/
├── docker-compose.yml
├── Dockerfile
└── entrypoint.sh

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📦 Dockerfile（支援 GPU + ROS2 + micro-ROS agent）

Dockerfile
FROM osrf/ros:humble-desktop-full

# 建立使用者
RUN useradd -ms /bin/bash ubuntu && echo "ubuntu:ubuntu" | chpasswd && adduser ubuntu sudo

# 安裝常用工具與 micro-ROS 相依套件
RUN apt update && apt install -y \
    build-essential python3-pip \
    python3-colcon-common-extensions \
    git curl wget nano tmux net-tools iputils-ping \
    libboost-system-dev libtinyxml2-dev libyaml-cpp-dev \
    && rm -rf /var/lib/apt/lists/*

# 建立 micro-ROS agent 工作空間
USER ubuntu
WORKDIR /home/ubuntu/data/uros_ws
RUN mkdir -p src && cd src && \
    git clone -b humble https://github.com/micro-ROS/micro-ROS-Agent.git && \
    git clone -b humble https://github.com/micro-ROS/micro_ros_msgs.git

SHELL ["/bin/bash", "-c"]
RUN source /opt/ros/humble/setup.bash && \
    colcon build

# 自動載入 ROS 與 micro-ROS 環境
RUN echo "source /opt/ros/humble/setup.bash" >> /home/ubuntu/.bashrc && \
    echo "source /home/ubuntu/data/uros_ws/install/setup.bash" >> /home/ubuntu/.bashrc

COPY entrypoint.sh /entrypoint.sh
RUN chmod +x /entrypoint.sh

ENTRYPOINT ["/entrypoint.sh"]

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🛠 entrypoint.sh（進入後切換成 ubuntu 使用者）

bash
#!/bin/bash
exec sudo -u ubuntu -H bash

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🧩 docker-compose.yml（支援 GPU + USB + X11 + Volume）

yaml
version: '3.9'

services:
  ros2dev:
    build: .
    container_name: ros2dev
    network_mode: host
    privileged: true
    environment:
      - DISPLAY=${DISPLAY}
      - QT_X11_NO_MITSHM=1
    volumes:
      - /tmp/.X11-unix:/tmp/.X11-unix:rw
      - ./data:/home/ubuntu/data
    devices:
      - /dev/ttyACM0:/dev/ttyACM0
    deploy:
      resources:
        reservations:
          devices:
            - capabilities: [gpu]

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🚀 使用步驟

1. 建立資料夾並放入三個檔案

bash
mkdir -p ros2_microros_gpu_docker/data
cd ros2_microros_gpu_docker
# 放入 Dockerfile、docker-compose.yml、entrypoint.sh

2. 建立映像與啟動容器

#docker compose use docker-compose.yml 啟動
$xhost +local:ubuntu
$docker compose up --build

#docker run 啟動 
$docker run -itd \
  --restart=always \
  --name ros2dev \
  --network host \
  --privileged \
  -e DISPLAY=$DISPLAY \
  -e QT_X11_NO_MITSHM=1 \
  -v /tmp/.X11-unix:/tmp/.X11-unix:rw \
  -v $(pwd)/data:/home/ubuntu/data \
  --device=/dev/ttyACM0:/dev/ttyACM0 \
  --device=/dev/ttyUSB0:/dev/ttyUSB0 \
  --gpus all \
  ros2-humble-ubuntu:latest

3. 容器啟動後執行：

#bash login ros2dev
$ docker exec -it ros2dev bash

#new firmware_ws prj run 建立 micro ros firmware by stm32 or esp32
#create stm32F407 freerots firmware code and build code
$ros2 run micro_ros_setup create_firmware_ws.sh freertos olimex-stm32-e407
$ros2 run micro_ros_setup build_firmware.sh

#to uros_ws prj  run
$cd uros_ws
$echo "source /opt/ros/humble/setup.bash" >> /home/ubuntu/.bashrc
$source /opt/ros/humble/setup.bash
$source install/local_setup.bash


$ros2 run micro_ros_agent micro_ros_agent serial --dev /dev/ttyACM0

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✅ 功能總結

功能	支援
micro-ROS Agent	✅ 編譯內建
USB UART (/dev/ttyACM0)	✅ 掛載
NVIDIA GPU	✅ docker compose 支援
GUI 工具（Gazebo / RViz）	✅ 透過 X11
Ubuntu 使用者	✅ 預設 ubuntu/ubuntu