35 lines
1.0 KiB
Markdown
35 lines
1.0 KiB
Markdown
# Nav2 Development Image
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`nav2-dev:humble` is the source-build runtime for Nav2 learning modules. It
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contains ROS 2 Humble, Gazebo, colcon, and rosdep, but intentionally does not
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contain Nav2, TurtleBot3, or SLAM Toolbox source code.
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Build it from this directory:
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```bash
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./build.sh
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```
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Mount a composed module workspace and build its sources:
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```bash
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docker run --rm -it --network host \
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-e DISPLAY="$DISPLAY" \
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-e TURTLEBOT3_MODEL=burger \
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-v /tmp/.X11-unix:/tmp/.X11-unix \
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-v "$HOME/autonomy-studio/workspaces/nav2-slam_ws:/workspace/nav2-slam_ws" \
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nav2-dev:humble bash
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cd "$NAV2_WORKSPACE"
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rosdep install --from-paths src --ignore-src -r -y
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colcon build
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```
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The composed workspace must contain all direct source dependencies. For Nav2,
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include its shared packages such as `nav2_common`, `nav2_util`, and `nav2_msgs`
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alongside the module packages being built.
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On later container starts, the entrypoint automatically sources
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`/workspace/nav2-slam_ws/install/setup.bash`, so source-built packages override
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the base ROS installation.
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