前言

这篇文章主要用于定制化打包需要的docker镜像，由于osrf¹提供的镜像源是国外的很多软件无法更新，所以这篇文章讲如何通过定制的方式修改源，并且提前安装好需要的环境软件等。

准备工作

安装docker可以通过这篇文章安装《如何建立并使用docker》

启动ros2 docker可以参考这篇文章《raspberry/arm 搭建ros2 docker开发环境》

拉取镜像

本地拉取osrf/ros:humble-desktop-full²镜像

docker pull osrf/ros:humble-desktop-full

编写Dockerfile

Dockerfile是指导docker打包镜像的指引文件

下边是一份简单的文件，博主替换了现有镜像中的apt源与ros源，避免下载速度慢和连接不上的问题

FROM osrf/ros:humble-desktop-full
LABEL Description="A Dockerfile to ros humble $RES_NAME:$TAG" Author="LinxinLi" Version="0.1"COPY sources.list /etc/apt
COPY ros2-latest.list /etc/apt/sources.list.dRUN set -x \&& echo "127.0.0.1   humble">>/etc/hosts \&& useradd -u 1000 bing \&& mkdir /home/bing \&& chmod 777 /home/bingRUN set -x \&& apt install ca-certificates \&& apt install apt-transport-https \&& apt-get update \&& apt-get install --assume-yes --no-install-recommends --quiet=2 ranger tmux vim net-tools iputils-ping cmake git libtorch-dev python3-pip# 默认登陆用户
USER bingENTRYPOINT ["/ros_entrypoint.sh"]
CMD ["bash"]

# sources.list 内容如下
# /etc/apt/source.list
deb https://mirrors.ustc.edu.cn/ubuntu/ jammy main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu/ jammy main restricted universe multiversedeb https://mirrors.ustc.edu.cn/ubuntu/ jammy-security main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu/ jammy-security main restricted universe multiversedeb https://mirrors.ustc.edu.cn/ubuntu/ jammy-updates main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu/ jammy-updates main restricted universe multiversedeb https://mirrors.ustc.edu.cn/ubuntu/ jammy-backports main restricted universe multiverse
deb-src https://mirrors.ustc.edu.cn/ubuntu/ jammy-backports main restricted universe multiverse## Not recommended
# deb https://mirrors.ustc.edu.cn/ubuntu/ jammy-proposed main restricted universe multiverse
# deb-src https://mirrors.ustc.edu.cn/ubuntu/ jammy-proposed main restricted universe multiverse

# ros2-latest.list 内容如下
deb https://mirrors.aliyun.com/ros2/ubuntu jammy main

编译docker镜像

docker build -t binglee75/humble:221208 .
该镜像也会保留在Docker Hub中
编译输出如下：

Sending build context to Docker daemon  4.237MB
Step 1/10 : FROM osrf/ros:humble-desktop-full---> daf9f1120a11
Step 2/10 : LABEL Description="A Dockerfile to ros humble $RES_NAME:$TAG" Author="LinxinLi" Version="0.1"---> Using cache---> a358361fd997
Step 3/10 : COPY sources.list /etc/apt---> Using cache---> 8558e7f782fa
Step 4/10 : COPY ros2-latest.list /etc/apt/sources.list.d---> Using cache---> 6197c9a066a9...Step 9/10 : ENTRYPOINT ["/ros_entrypoint.sh"]---> Running in 5006025db8e2
Removing intermediate container 5006025db8e2---> cc7c9b34d73a
Step 10/10 : CMD ["bash"]---> Running in ff8db182e9dc
Removing intermediate container ff8db182e9dc---> 8bd3aaf713b2
Successfully built 8bd3aaf713b2
Successfully tagged binglee75/humble:221208

push镜像到Docker Hub

docker push binglee75/humble:221208

The push refers to repository [docker.io/binglee75/humble]
f7c12ddcb55f: Pushed 
1570734850d9: Pushed 
6390a48bca47: Pushed 
0bae245a62d9: Preparing 
bdaadab9d406: Preparing 
af2965216038: Layer already exists 
fd4aebb2523e: Layer already exists 
0a5fd2d706c9: Layer already exists 
5159e5d170ff: Layer already exists 
8cdb2cd7c954: Layer already exists 
69f1b4e81c30: Layer already exists 
041f4c338554: Layer already exists 
30ee33b93990: Layer already exists 
3928b90443e4: Layer already exists 
8e5e654762f5: Layer already exists 
6afe14ba77eb: Layer already exists 
2750701fc2c2: Layer already exists 
f4a670ac65b6: Layer already exists 
221208: digest: sha256:****** size: 4100