Get ROS 2 Jazzy (24.04)

1) Pull

sudo docker pull dustynv/ros:jazzy-desktop-r36.4.0-cu128-24.04

2) Allow X access if you use GUI tools

This command should run on the local terminal

xhost +local:root

3) Create Docker Container

sudo docker run -it \
  --name robot_10_jazzy \
  --privileged \
  --runtime nvidia \
  --network host \
  -e DISPLAY=$DISPLAY \
  -e XAUTHORITY=$XAUTHORITY \
  -e NVIDIA_VISIBLE_DEVICES=all \
  -e NVIDIA_DRIVER_CAPABILITIES=all \
  -v /dev:/dev \
  -v /home/robot/.Xauthority:/root/.Xauthority:ro \
  -v /tmp/.X11-unix:/tmp/.X11-unix:rw \
  -v /home/robot/Desktop/ws_big_robot:/ws_big_robot \
  dustynv/ros:jazzy-desktop-r36.4.0-cu128-24.04

Check USB devices in docker container

ls -l /dev/ttyUSB*

4) Start the Docker image

sudo docker start -ai robot_2_jazzy 

<Open a shell in the running container>

sudo docker exec -it robot_2_jazzy bash

Source the Jazzy and workspace

source /opt/ros/jazzy/install/setup.bash
source /ws_big_robot/ws_big_robot/install/setup.bash

To Fix “colcon build” issue

cd /ws_big_robot
# Clean old build, install, and log folders

rm -rf build/ install/ log/

# Ensure cmake is installed

apt update

apt install -y cmake

# Build again

colcon build