Ros2 Humble on Voxl2
-
I have several Sentinel drones with ros2 foxy installed via voxl-ros2-foxy and I need to switch to running ros2 humble on the quads. From what I've seen there's no way to get around having to run it via docker, but I have a few questions:
-
Are there instructions on installing docker on target? The modalai guide (https://docs.modalai.com/docker-on-voxl/) references to just use the docker instructions to install via apt, but the docker install instructions linked to require an ubuntu o.s. newer than 20.04 so I wasn't sure if it would work.
-
In switching to ros2 humble onboard the voxl2 do I need to update the dds client module and rebuild voxl-px4 and rebuild the voxl-microdds-agent as well? I'm assuming that if they're built to work with ros2 foxy they're going to be dependent on older versions of fast-dds than what humble would be using and might not be compatible
-
Are there any example docker run commands that are recommended for running containers onboard voxl2 with proper permissions for using the networking interfaces and mounting whatever volumes ros2 would need to run and work with px4?
Basically if you guys are running ros2 humble out of docker on voxl2 what did your set-up look like and did you run into any compatibility issues?
Thanks!
-