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turtlebot3: build on ros:jazzy-ros-base so the demo runs natively on arm64 #79

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Merged
mfaferek93 merged 2 commits into from
Oct 12, 2026
Merged

turtlebot3: build on ros:jazzy-ros-base so the demo runs natively on arm64 #79

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turtlebot3: build on ros:jazzy-ros-base so the demo runs natively on …
mfaferek93 Oct 12, 2026
1a4c72d
turtlebot3: install rviz2 instead of ros-gz
mfaferek93 Oct 12, 2026
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13 changes: 11 additions & 2 deletions demos/turtlebot3_integration/Dockerfile
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Original file line number Diff line number Diff line change
@@ -1,7 +1,11 @@
# TurtleBot3 + ros2_medkit Discovery Demo with Nav2 Navigation
# Full desktop image with Gazebo GUI support
#
# ros:jazzy-ros-base is multi-arch. osrf/ros:jazzy-desktop is amd64 only, so on
# Apple Silicon and other arm64 hosts it ran under emulation, which broke the
# simulated lidar and Nav2. Gazebo (server and GUI) comes in with
# turtlebot3_gazebo.

FROM osrf/ros:jazzy-desktop
FROM ros:jazzy-ros-base

ENV DEBIAN_FRONTEND=noninteractive
ENV ROS_DISTRO=jazzy
Expand All @@ -11,6 +15,7 @@ ENV COLCON_WS=/root/demo_ws

# Install TurtleBot3, Nav2, and build dependencies
RUN apt-get update && apt-get install -y \
ros-jazzy-rviz2 \
ros-jazzy-turtlebot3-gazebo \
ros-jazzy-turtlebot3-msgs \
ros-jazzy-turtlebot3-description \
Expand Down Expand Up @@ -78,9 +83,13 @@ RUN find /var/lib/ros2_medkit/scripts -name "*.bash" -exec chmod +x {} \;

# Build ros2_medkit and demo package
WORKDIR ${COLCON_WS}
# apt-get update first: the base image ships no package lists, and rosdep
# installs what the workspace needs that the image does not carry.
RUN bash -c "source /opt/ros/jazzy/setup.bash && \
apt-get update && \
rosdep update && \
rosdep install --from-paths src --ignore-src -r -y && \
rm -rf /var/lib/apt/lists/* && \
MAKEFLAGS='-j 2' colcon build --executor sequential --symlink-install --cmake-args -DBUILD_TESTING=OFF"

# Setup environment
Expand Down
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