Docker 环境准备

1) Docker Pull

docker login cue-aurora.tencentcloudcr.com --username XXXX --password XXXX
docker pull cue-aurora.tencentcloudcr.com/ros-linux/arm64_ros_ubuntu20.04:latest

2) Docker Service

systemctl enable docker.service

3）kiwi工程部署安装

cd /home/ubuntu
git clone http://git2.dev.cn2.corp.agrant.cn/cue_retail/gaea/kiwi.git
docker run -it --rm -v /home/ubuntu/:/cue/ --net=host --name kiwi_make cue-aurora.tencentcloudcr.com/ros-linux/arm64_ros_ubuntu20.04:latest /bin/bash -c "source /opt/ros/noetic/setup.bash && cd /cue/kiwi && catkin_make"

4) Docker Run

docker run -itd --restart=always -v /home/ubuntu/:/cue/ --device=/dev/video0 --device=/dev/ttyUSB0 --net=host --name cue_kiwi cue-aurora.tencentcloudcr.com/ros-linux/arm64_ros_ubuntu20.04:latest /bin/bash -c "source /opt/ros/noetic/setup.bash && source /cue/kiwi/devel/setup.bash && roslaunch /cue/kiwi/src/snapshot/launch/snow_snapshot.launch"