@jmltt said in Ros2 Humble on Voxl2:

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.

@jmltt please find answers for your questions below:

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. --> I always just use this file to install docker on target on the voxl2 (works for any ubuntu device as well btw): https://github.com/docker/docker-install/blob/master/install.sh
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 -> No you do not need to reinstall the fast dds with a different instance. Keep in mind the DDS is ros2 agnostic and runs as the middleware BUT I will test this out this morning.
For examples the best I can do is show you what I do when running something like ros2 docker containers:

E.G:

                -v /usr/include/modal_pipe_common.h:/usr/include/modal_pipe_common.h \
                -v /usr/include/modal_pipe_client.h:/usr/include/modal_pipe_client.h \
                -v /usr/include/c_library_v2:/usr/include/c_library_v2 \
                -v /run/mpa:/run/mpa \
                -v /usr/bin/voxl-list-pipes:/usr/bin/voxl-list-pipes \
                -v /usr/include/voxl_cutils.h:/usr/include/voxl_cutils.h \
                -v /usr/include/cJSON.h:/usr/include/cJSON.h \
                -v /usr/include/modal_pipe_deprecated.h:/usr/include/modal_pipe_deprecated.h \
                -v /usr/include/modal_pipe_interfaces.h:/usr/include/modal_pipe_interfaces.h \
                -v /usr/include/modal_pipe_common.h:/usr/include/modal_pipe_common.h \
                -v /usr/include/modal_pipe_client.h:/usr/include/modal_pipe_client.h \
                -v /usr/include/modal_start_stop.h:/usr/include/modal_start_stop.h \
                -v /usr/lib64/libvoxl_cutils.so:/usr/lib/libvoxl_cutils.so \
                -v /usr/lib64/libmodal_json.so:/usr/lib/libmodal_json.so \
                -v /usr/lib64/libmodal_pipe.so:/usr/lib/libmodal_pipe.so \
		-v /usr/lib/libgbm.so:/usr/lib/aarch64-linux-gnu/libgbm.so \
                -v /tmp:/tmp \
                -v /etc/modalai:/etc/modalai \
                -v /dev:/host/dev"

            docker run --rm -it \
                --privileged \
                --net=host \
                --ipc=host \
                ${VOLUMES} \
                -e ROS_DOMAIN_ID=$ROS_DOMAIN_ID \
                --entrypoint "/bin/bash" \
                DOCKER_IMAGE_NAME_AND_TAG -c /bin/bash

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Zachary Lowell 0