manjaro docker install ros2 in raspberry pi4B 使用Docker安装ROS2 (ros-humble) 并开启对Wayland的支持

本人的环境：
操作系统: Kali GNU/Linux 2022.3
内核: Linux 6.0.1-surface x86_64
Docker：Docker version 20.10.20, build 9fdeb9c
KDE Plasma Version: 5.26.0
KDE Frameworks Version: 5.98.0
Qt Version: 5.15.4
Graphics Platform: Wayland

install docker

1.拉取image

sudo docker pull --platform arm64 osrf/ros:rolling-desktop-full

2.创建container

docker run -it --name ros-humble                                       \
    -v SLAM-vol:/root/SLAM                                      \
    -e XDG_RUNTIME_DIR=/tmp                                     \
    -e WAYLAND_DISPLAY=$WAYLAND_DISPLAY                         \
    -v $XDG_RUNTIME_DIR/$WAYLAND_DISPLAY:/tmp/$WAYLAND_DISPLAY  \
    -e QT_QPA_PLATFORM=wayland                                  \
    osrf/ros:humble-desktop-full

3.打开container：

　　docker start ros-humble

4.进入container：

　　docker -exec -it ros-humble bash

（可选）为了方便，我们可以把source /ros_entrypoint.sh加入~/.bashrc中

然后验证安装，输入ros2会出现：

ros-humble安装成功。只能支持amd64

other:https://blog.csdn.net/sinat_21946723/article/details/127436992?utm_medium=distribute.pc_relevant.none-task-blog-2~default~baidujs_baidulandingword~default-9-127436992-blog-124775677.pc_relevant_3mothn_strategy_recovery&spm=1001.2101.3001.4242.6&utm_relevant_index=12