osrf/rockerを使ってPC内に複数のROS distroの開発環境を整える方法

`sudo apt install python3-rocker`

`rocker --nvidia --x11 --user --home osrf/ros:noetic-desktop-full`

`rocker --x11 --user --home osrf/ros:noetic-desktop-full`

`ros
├── dashing
│   ├── build
│   ├── install
│   ├── log
│   └── src
├── foxy
│   ├── build
│   ├── install
│   ├── log
│   └── src
├── galactic
│   ├── build
│   ├── install
│   ├── log
│   └── src
├── melodic
│   ├── build
│   ├── devel
│   ├── log
│   └── src
└── noetic
    ├── build
    ├── install
    ├── log
    └── src`

`cd ~/ros/melodic
# 必要に応じてcatkin build
source devel/setup.bash`

`cd ~/ros/foxy
# 必要に応じてcolcon build --symlink-install
source install/setup.bash`

`git clone https://github.com/Tiryoh/docker-ros2.git`

`    apt-get install -y --no-install-recommends ros-${ROS_DISTRO}-gazebo-ros-pkgs ros-${ROS_DISTRO}-xacro ros-${ROS_DISTRO}-joint-state-publisher-gui && \
+   apt-get install -y --no-install-recommends ros-foxy-turtlebot3  && \
    rm -rf /var/lib/apt/lists/*`

`docker build -t tiryoh/ros2:foxy .`

`rocker --nvidia --x11 --user --home tiryoh/ros2:foxy`

`rocker --nvidia --x11 --user --home tiryoh/ros:melodic`

`rocker --nvidia --x11 --user --home tiryoh/ros:noetic`

`rocker --nvidia --x11 --user --home tiryoh/ros2:foxy`

`rocker --nvidia --x11 --user --home tiryoh/ros2:galactic`

`building > Reading package lists...
building > W: GPG error: http://packages.ros.org/ros2/ubuntu focal InRelease: The following signatures were invalid: EXPKEYSIG F42ED6FBAB17C654 Open Robotics <info@osrfoundation.org>
E: The repository 'http://packages.ros.org/ros2/ubuntu focal InRelease' is not signed.`

`$ rviz
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-daisuke'
[ INFO] [1639679761.103031358]: rviz version 1.13.21
[ INFO] [1639679761.103057954]: compiled against Qt version 5.9.5
[ INFO] [1639679761.103064928]: compiled against OGRE version 1.9.0 (Ghadamon)
dbus[38]: The last reference on a connection was dropped without closing the connection. This is a bug in an application. See dbus_connection_unref() documentation for details.
Most likely, the application was supposed to call dbus_connection_close(), since this is a private connection.
  D-Bus not built with -rdynamic so unable to print a backtrace
Aborted (core dumped)`

`rocker --nvidia --x11 --user --network host --privileged --volume ~/ros2_ws/src ~/.bashrc -- tiryoh/ros2:foxy`

`dbus-daemon: apparmor="DENIED" operation="dbus_method_call"  bus="accessibility" path="/org/freedesktop/DBus" interface="org.freedesktop.DBus" member="Hello" mask="send" name="org.freedesktop.DBus" pid=17471 label="docker-default" peer_label="unconfined"`

`$ rocker --help
Extension volume doesn't support default arguments. Please extend it.
usage: rocker [-h] [--noexecute] [--nocache] [--nocleanup] [--pull] [-v]
              [--dev-helpers] [--devices [DEVICES [DEVICES ...]]]
              [--env NAME[=VALUE] [NAME[=VALUE] ...]] [--env-file ENV_FILE]
              [--git] [--git-config-path GIT_CONFIG_PATH] [--home]
              [--name NAME] [--network {host,none,bridge}] [--nvidia]
              [--privileged] [--pulse] [--ssh] [--user]
              [--user-override-name USER_OVERRIDE_NAME] [--user-preserve-home]
              [--volume HOST-DIR[:CONTAINER-DIR[:OPTIONS]]
              [HOST-DIR[:CONTAINER-DIR[:OPTIONS]] ...]] [--x11]
              [--mode {interactive,non-interactive,dry-run}]
              [--image-name IMAGE_NAME]
              [--extension-blacklist [EXTENSION_BLACKLIST [EXTENSION_BLACKLIST ...]]]
              image [command [command ...]]

A tool for running docker with extra options

positional arguments:
  image
  command

optional arguments:
  -h, --help            show this help message and exit
  --noexecute           Deprecated (default: False)
  --nocache
  --nocleanup           do not remove the docker container when stopped
                        (default: False)
  --pull
  -v, --version         show program's version number and exit
  --dev-helpers         add development tools emacs and byobu to your
                        environment (default: None)
  --devices [DEVICES [DEVICES ...]]
                        Mount devices into the container. (default: None)
  --env NAME[=VALUE] [NAME[=VALUE] ...], -e NAME[=VALUE] [NAME[=VALUE] ...]
                        set environment variables (default: [])
  --env-file ENV_FILE   set environment variable via env-file (default: None)
  --git                 Use the global Git settings from the host
                        (/etc/gitconfig and ~/.gitconfig) (default: None)
  --git-config-path GIT_CONFIG_PATH
                        Override the path to the git config default:
                        /home/daisuke/.gitconfig (default:
                        /home/daisuke/.gitconfig)
  --home                mount the users home directory (default: None)
  --name NAME           Name of the container. (default: )
  --network {host,none,bridge}
                        What network configuration to use. (default: None)
  --nvidia              Enable nvidia (default: None)
  --privileged          give extended privileges to the container (default:
                        None)
  --pulse               mount pulse audio devices (default: None)
  --ssh                 Forward SSH agent into the container (default: None)
  --user                mount the current user's id and run as that user
                        (default: None)
  --user-override-name USER_OVERRIDE_NAME
                        override the current user's name (default: None)
  --user-preserve-home  Do not delete home directory if it exists when making
                        a new user. (default: False)
  --volume HOST-DIR[:CONTAINER-DIR[:OPTIONS]] [HOST-DIR[:CONTAINER-DIR[:OPTIONS]] ...]
                        volume volumes in container (default: None)
  --x11                 Enable x11 (default: None)
  --mode {interactive,non-interactive,dry-run}
                        Choose mode of operation for rocker (default:
                        interactive)
  --image-name IMAGE_NAME
                        Tag the final image, useful with dry-run (default:
                        None)
  --extension-blacklist [EXTENSION_BLACKLIST [EXTENSION_BLACKLIST ...]]
                        Prevent any of these extensions from being loaded.
                        (default: [])`