{"id":834,"date":"2025-01-22T17:00:49","date_gmt":"2025-01-22T08:00:49","guid":{"rendered":"https:\/\/txn.myds.me\/blog\/?p=834"},"modified":"2025-01-22T17:00:49","modified_gmt":"2025-01-22T08:00:49","slug":"arm64-ros2-%e7%92%b0%e5%a2%83%e3%82%92-podman-%e3%81%a7%e5%8b%95%e3%81%8b%e3%81%99","status":"publish","type":"post","link":"https:\/\/blog.txn.red\/?p=834","title":{"rendered":"arm64 ROS2 \u74b0\u5883\u3092 podman \u3067\u52d5\u304b\u3059"},"content":{"rendered":"\n<p class=\"wp-block-paragraph\">\u3044\u308d\u3044\u308d\u3068\u7d06\u4f59\u66f2\u6298\u3042\u308a\u307e\u3057\u305f\u304c\u3001\u6700\u7d42\u7684\u306b podman \u3067\u52d5\u304b\u3059\u3053\u3068\u3067\u843d\u3061\u7740\u304d\u305d\u3046\u306a\u306e\u3067\u8a18\u4e8b\u306b\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\uff44\u6700\u8fd1\u306e\u79c1\u306e\u304a\u4f9b\u306f Claude \u306a\u306e\u3067\u3059\u304c\u65e9\u901f\u805e\u3044\u3066\u307f\u307e\u3059\u3068\u3064\u3089\u3064\u3089\u3068 Dockerfile \u3092\u63d0\u793a\u3057\u3066\u304d\u307e\u3059\u3002\u591a\u5c11\u30a2\u30ec\u30f3\u30b8\u3057\u3066\u307e\u3059\u304c\u9aa8\u5b50\u306f\u305d\u306e\u307e\u307e\u3067\u3059\u3002<\/p>\n\n\n\n<div class=\"hcb_wrap\"><pre class=\"prism line-numbers lang-plain\" data-file=\"Dockerfile\"><code>FROM --platform=linux\/arm64 ubuntu:22.04\n\n\nENV DEBIAN_FRONTEND=noninteractive\n\nRUN rm \/var\/lib\/dpkg\/info\/libc-bin.* && apt-get clean\n\n# \u65e5\u672c\u306e\u30df\u30e9\u30fc\u306b\u5411\u3051\u308b\nRUN sed -i &#39;s@archive.ubuntu.com@ftp.jaist.ac.jp\/pub\/Linux@g&#39; \/etc\/apt\/sources.list\n\nRUN apt-get update && \\\n    apt-get install -y wget \\\n    curl \\\n    git \\\n    vim \\\n    lsb-release \\\n    build-essential python3-pip python3-setuptools python3-dev \\\n    gnupg2 xterm x11-apps\n\n# ROS\u306e\u30bb\u30c3\u30c8\u30a2\u30c3\u30d7\uff08\u3053\u3053\u3067\u306f\u4f8b\u3068\u3057\u3066ROS 2 Humble\u3092\u4f7f\u7528\uff09\nRUN curl -sSL https:\/\/raw.githubusercontent.com\/ros\/rosdistro\/master\/ros.key -o \/usr\/share\/keyrings\/ros-archive-keyring.gpg\nRUN echo &quot;deb [arch=$(dpkg --print-architecture) signed-by=\/usr\/share\/keyrings\/ros-archive-keyring.gpg] http:\/\/packages.ros.org\/ros2\/ubuntu $(. \/etc\/os-release && echo $UBUNTU_CODENAME) main&quot; | tee \/etc\/apt\/sources.list.d\/ros2.list &gt; \/dev\/null\nRUN apt-get update && apt-get install -y \\\n    ros-humble-ros-base \\\n    ros-humble-rqt* \\\n    ros-humble-rviz2 \\\n    python3-colcon-common-extensions\n\n# \u4f5c\u696d\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u306e\u4f5c\u6210\nRUN mkdir -p \/workspace\nWORKDIR \/workspace\n\n# \u74b0\u5883\u5909\u6570\u306e\u8a2d\u5b9a\nRUN echo &quot;source \/opt\/ros\/humble\/setup.bash&quot; &gt;&gt; ~\/.bashrc\n<\/code><\/pre><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">\u5909\u66f4\u304b\u3051\u305f\u306e\u306f\u3001 sed \u3067\u65e5\u672c\u306e\u30df\u30e9\u30fc\u306b\u5411\u3051\u305f\u3068\u3053\u308d\u3068\u3001rm  \/var\/lib\/dpkg\/info\/libc-bin.* \u3067\u30d5\u30a1\u30a4\u30eb\u3092\u524a\u9664\u3057\u305f\u7b87\u6240\u3067\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u7279\u306b\u3053\u306e  libc-bin.* \u306e\u524a\u9664\u3092\u3057\u306a\u3044\u3068\u3001apt-get \u3067\u306e\u30d1\u30c3\u30b1\u30fc\u30b8\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u306b\u3053\u3068\u3054\u3068\u304f\u5931\u6557\u3059\u308b\u3057\u307e\u3059\u3002\u306a\u3093\u3068\u306a\u304f\u524a\u9664\u3059\u308b\u306e\u306f\u826f\u304f\u306a\u3044\u3088\u3046\u306a\u6c17\u3082\u3059\u308b\u306e\u3067\u3059\u304c\u3001 Stack Overflow \u3067\u3082\u3044\u304f\u3064\u304b Good \u304c\u3064\u3044\u3066\u3044\u308b\u306e\u3067\u5927\u4e08\u592b\u3058\u3083\u306a\u3044\u304b\u3068\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">setup.bash \u3082\u3059\u3067\u306b\u8aad\u307f\u8fbc\u307f\u6e08\u307f\u306a\u306e\u3067\u8d77\u52d5\u3059\u308b\u3068\u5373 ros2 \u30b3\u30de\u30f3\u30c9\u304c\u5b9f\u884c\u3067\u304d\u308b\u72b6\u614b\u306b\u306a\u3063\u3066\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u30d3\u30eb\u30c9\u3068\u8d77\u52d5\u306f\u4e0b\u306e\u3088\u3046\u306b\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">Claud \u306f\u6c17\u304c\u5229\u3044\u3066\u3044\u308b\u306e\u3069\u3046\u306a\u306e\u304b\u3053\u306e\u72b6\u614b\u3067 GUI \u30a2\u30d7\u30ea\u3082\u52d5\u4f5c\u51fa\u6765\u308b\u3088\u3046\u306b\u3057\u3066\u304f\u308c\u3066\u3044\u308b\u3088\u3046\u3067\u30b3\u30f3\u30c6\u30ca\u3092\u5b9f\u884c\u3059\u308b\u306b\u306f\u3053\u3046\u3059\u308b\u307f\u305f\u3044\u3067\u3059\u3002<\/p>\n\n\n\n<div class=\"hcb_wrap\"><pre class=\"prism line-numbers lang-bash\" data-lang=\"Bash\"><code>$  ls .\/Dockerfile\n.\/Dockerfile\n\n$ podman build -t ros2-arm64 .\n\n$ podman run --platform linux\/arm64 \\\n  -v \/tmp\/.X11-unix:\/tmp\/.X11-unix \\\n  -e DISPLAY=$DISPLAY \\\n  -v $HOME\/.Xauthority:\/root\/.Xauthority \\\n  -v $HOME\/ros2_ws:\/workspace \\\n  --net=host \\\n  -it localhost\/ros2-arm64<\/code><\/pre><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">\u8d77\u52d5\u306e\u305f\u3073\u306b\u3053\u306e\u30b3\u30de\u30f3\u30c9\u6253\u3064\u306e\u306f\u3057\u3093\u3069\u3044\u306e\u3067\u30b7\u30a7\u30eb\u30b9\u30af\u30ea\u30d7\u30c8\u304b\u306a\u3093\u304b\u306b\u3057\u305f\u307b\u3046\u304c\u3088\u3055\u3052\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u3067\u30b3\u30f3\u30c6\u30ca\u306e\u4e2d\u3067\u52d5\u4f5c\u78ba\u8a8d\u3059\u308b\u306b\u306f\u3001\u4e0b\u306e\u3088\u3046\u306b\u3057\u308d\u3068 Claude \u304c\u8a00\u3046\u306e\u3067\u8a66\u3057\u3066\u307f\u308b\u3002<\/p>\n\n\n\n<div class=\"hcb_wrap\"><pre class=\"prism line-numbers lang-plain\"><code>; \u30db\u30b9\u30c8\u306b \u76ee\u7389\u30a2\u30d7\u30ea\u304c\u8868\u793a\u3055\u308c\u308b\u3002\nin-contailner: # xeyes\n\n; \u30db\u30b9\u30c8\u306b ros2 \u306e rqt \u304c\u8868\u793a\u3055\u308c\u308b\nin-contailner: # rqt <\/code><\/pre><\/div>\n\n\n\n<p class=\"wp-block-paragraph\">\u3061\u3083\u3093\u3068\u8a08\u6e2c\u3057\u305f\u308f\u3051\u3067\u306f\u306a\u3044\u304c qemu-system \u3067\u30a8\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3088\u308a\u5c11\u3057\u65e9\u3044\u6c17\u304c\u3059\u308b\u3002<\/p>\n\n\n\n<p class=\"wp-block-paragraph\">\u306b\u3057\u3066\u3082 Claude \u306b\u8a00\u308f\u308c\u308b\u304c\u307e\u307e\u3060\u306a\u3002<\/p>\n\n\n\n<h2 class=\"wp-block-heading\" id=\"%25e5%258f%2582%25e8%2580%2583\">\u53c2\u8003<\/h2>\n\n\n\n<p class=\"wp-block-paragraph\"><a href=\"https:\/\/genzouw.com\/entry\/2019\/09\/04\/085135\/1718\/\">Docker\u306e\u30a4\u30e1\u30fc\u30b8\u30d3\u30eb\u30c9\u4e2d\u3067apt-get\u3092\u9ad8\u901f\u5316\u3059\u308b\u305f\u3063\u305f1\u3064\u306e\u65b9\u6cd5 | \u30b2\u30f3\u30be\u30a6\u7528\u30dd\u30b9\u30c8\u30a4\u30c3\u30c8<\/a><br>souces.list \u306e\u30df\u30e9\u30fc\u3092\u65e5\u672c\u306e jaist \u306b\u5411\u3051\u308b\u8a2d\u5b9a<\/p>\n\n\n\n<p class=\"wp-block-paragraph\"><a href=\"https:\/\/stackoverflow.com\/questions\/78105004\/docker-build-fails-because-unable-to-install-libc-bin\">ruby on rails &#8211; Docker build fails because unable to install <code>libc-bin<\/code> &#8211; Stack Overflow<\/a><br>libc-bin \u306e\u30a8\u30e9\u30fc\u56de\u907f<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u3044\u308d\u3044\u308d\u3068\u7d06\u4f59\u66f2\u6298\u3042\u308a\u307e\u3057\u305f\u304c\u3001\u6700\u7d42\u7684\u306b podman \u3067\u52d5\u304b\u3059\u3053\u3068\u3067\u843d\u3061\u7740\u304d\u305d\u3046\u306a\u306e\u3067\u8a18\u4e8b\u306b\u3057\u307e\u3059\u3002 \uff44\u6700\u8fd1\u306e\u79c1\u306e\u304a\u4f9b\u306f Claude \u306a\u306e\u3067\u3059\u304c\u65e9\u901f\u805e\u3044\u3066\u307f\u307e\u3059\u3068\u3064\u3089\u3064\u3089\u3068 Dockerfile \u3092\u63d0\u793a\u3057\u3066\u304d\u307e\u3059\u3002\u591a [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"iawp_total_views":2,"footnotes":""},"categories":[9,5],"tags":[8,12],"class_list":["post-834","post","type-post","status-publish","format-standard","hentry","category-dev","category-it","tag-linux","tag-sbc"],"_links":{"self":[{"href":"https:\/\/blog.txn.red\/index.php?rest_route=\/wp\/v2\/posts\/834","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/blog.txn.red\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/blog.txn.red\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/blog.txn.red\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/blog.txn.red\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=834"}],"version-history":[{"count":0,"href":"https:\/\/blog.txn.red\/index.php?rest_route=\/wp\/v2\/posts\/834\/revisions"}],"wp:attachment":[{"href":"https:\/\/blog.txn.red\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=834"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/blog.txn.red\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=834"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/blog.txn.red\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=834"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}