Docker¶

Docker: Securely build, share and run any application, anywhere
Docker Hub: the world's easiest way to create, manage, and deliver your teams' container applications
docker中文社区

Overview¶

the images and containers are stored by Docker in /var/lib/docker by default

Image vs Container¶

镜像 (Images): 可以认为是超级轻量级的虚拟机的快照。镜像会有自己的唯一ID，名字和标签，比如ubuntu, 比如ubuntu:18.04等。通常都是在已有的镜像（多数是Linux操作系统的镜像）的基础上构建自己的具有新功能的镜像。
容器 (Containers): 可以认为是超级轻量级的虚拟机，是镜像运行起来所处的可读写的状态。容器里面可以安装、运行程序，还可以把安装好的程序存储起来获得新的镜像。与虚拟机很大的不同在于，一个容器通常只运行一个程序。在Docker中，应用程序和数据文件是分开的，因此可以在不影响数据的情况下快速升级代码或系统。

Tutorial¶

Install¶

Get Docker Engine - Community for Ubuntu

Usage¶

Bash

sudo docker info

Image¶

view
Bash
```
sudo docker images
```

get

Bash

sudo docker pull ros

sudo docker pull ros:kinetic-robot

create

Bash

sudo docker build -t <REPO-NAME:TAG>

sudo docker build -t <REPO-NAME:TAG> -f <path-to-Dockerfile> .

modify

Bash

sudo docker tag <IMAGE-ID> <REPO-NAME>:<TAG>

delete
Bash
```
sudo docker rmi <REPO-NAME>
```

get

Bash

sudo docker search ubuntu

sudo docker pull ubuntu

run

Bash

sudo docker run --help

# e.g.
sudo docker run hello-world

sudo docker run -it <REPO-NAME:TAG> /bin/bash
# default TAG: latest
sudo docker run -it <REPO-NAME> /bin/bash
# e.g.
sudo docker run -it ubuntu:15.10 /bin/bash

-i: 交互式操作
-t: 终端
ubuntu:15.10: 这是指用 ubuntu 15.10 版本镜像为基础来启动容器
/bin/bash：放在镜像名后的是命令，这里我们希望有个交互式 Shell，因此用的是 /bin/bash

Container¶

view
Bash
```
 sudo docker ps -a
```

start & stop container

Bash

# start container and enter
docker start -i <Container-ID>

# restart
docker restart <Container-ID>

# stop
docker stop <Container-ID>

we can also open another terminal for a running container with the following command
Bash
```
docker exec -it <Container-Name/ID> bash
```
or
Bash
```
docker attach <Container-Name/ID>
```

commit to update IMAGE

Bash

sudo docker commit [-m="update dataset" -a="cggos"] <Container-ID> <REPO-NAME:TAG>

history
Bash
```
sudo docker history <IMAGE-ID>
```

delete

Bash

sudo docker rm <container-name/ID>

# stop all containers
sudo docker container stop $(docker container ls -aq)
# remove all stopped containers
sudo docker container prune

copy file

Bash

# host to container
docker cp foo.txt <Container-ID>:/foo.txt

# container to host
docker cp <Container-ID>:/foo.txt foo.txt

with ROS¶

ros-kalibr

Bash

sudo docker run \
  --name=ros-kalibr \
  -it --rm -e DISPLAY=$DISPLAY \
  -v /tmp/.X11-unix:/tmp/.X11-unix davvdg/ros-kalibr \
  /bin/bash

HKUST-Aerial-Robotics/VINS-kidnap

Bash

docker run --runtime=nvidia -it \
        --add-host `hostname`:172.17.0.1 \
        --env ROS_MASTER_URI=http://`hostname`:11311/ \
        --env ROS_IP=172.17.0.2 \
        --env CUDA_VISIBLE_DEVICES=0 \
        --hostname happy_go \
        --name happy_go  \
        mpkuse/kusevisionkit:vins-kidnap bash

Network¶

params

Bash

--net=host

# or
--add-host `hostname`:172.17.0.1 \
--env ROS_MASTER_URI=http://`hostname`:11311/ \
--env ROS_IP=172.17.0.2 \
--hostname happy_go \
--name happy_go  \

Docker Hub¶

Bash

sudo docker login

sudo docker inspect <USER/REPO-NAME:TAG>

sudo docker push <USER/REPO-NAME:TAG>