MAVRIC_Systems

ROS 2 Jazzy robotics control system for MAVRIC.

Docker Compose Quickstart

Build and launch the Jazzy runtime container:

sudo docker compose up -d --build

Open an interactive shell in the running container:

sudo docker exec -it mavric-ros-jazzy bash

Start the same Jazzy container for development without launching ROS:

sudo docker compose -f compose.yaml -f compose/dev.yaml up -d --build
sudo docker exec -it mavric-dev bash

View runtime logs:

sudo docker logs -f mavric-ros-jazzy

Stop and remove the container:

sudo docker compose down

Force a clean image rebuild:

sudo docker compose build --no-cache

The Compose service uses host networking for ROS 2 DDS discovery, rosbridge on port 9090, and SocketCAN compatibility. The startup command builds ros2_ws_Jazzy, sources the install workspace, and launches mavric_launch teleop.launch.py.

Both Compose modes bind-mount the repo root at /workspace and start in /workspace/ros2_ws_Jazzy, so cd .. inside the container moves to the repo root.