コンテナを立ち上げようとして以下のようなエラーに遭遇する人
WARNING: The requested image's platform (linux/amd64) does not match the detected host platform (linux/arm64/v8) and no specific platform was requested
entrypoint.sh version 20250212
chmod: '/dev/dri/*' にアクセスできません: そのようなファイルやディレクトリはありません
2025-05-17 21:37:11,137 INFO Included extra file "/etc/supervisor/conf.d/supervisord.conf" during parsing
2025-05-17 21:37:11,138 INFO Set uid to user 0 succeeded
2025-05-17 21:37:11,143 INFO RPC interface 'supervisor' initialized
2025-05-17 21:37:11,143 CRIT Server 'unix_http_server' running without any HTTP authentication checking
2025-05-17 21:37:11,144 INFO supervisord started with pid 31
2025-05-17 21:37:12,155 INFO spawned: 'novnc' with pid 32
2025-05-17 21:37:12,159 INFO spawned: 'vnc' with pid 33
2025-05-17 21:37:14,022 INFO success: novnc entered RUNNING state, process has stayed up for > than 1 seconds (startsecs)
2025-05-17 21:37:14,022 INFO success: vnc entered RUNNING state, process has stayed up for > than 1 seconds (startsecs)
2025-05-17 21:37:16,799 INFO exited: vnc (exit status 255; not expected)
2025-05-17 21:37:17,812 INFO spawned: 'vnc' with pid 303
2025-05-17 21:37:19,350 INFO success: vnc entered RUNNING state, process has stayed up for > than 1 seconds (startsecs)
2025-05-17 21:37:21,118 INFO exited: vnc (exit status 255; not expected)
2025-05-17 21:37:22,125 INFO spawned: 'vnc' with pid 482
2025-05-17 21:37:23,666 INFO success: vnc entered RUNNING state, process has stayed up for > than 1 seconds (startsecs)
2025-05-17 21:37:25,537 INFO exited: vnc (exit status 255; not expected)
2025-05-17 21:37:26,544 INFO spawned: 'vnc' with pid 681
2025-05-17 21:37:28,079 INFO success: vnc entered RUNNING state, process has stayed up for > than 1 seconds (startsecs)
2025-05-17 21:37:29,810 INFO exited: vnc (exit status 255; not expected)
2025-05-17 21:37:30,817 INFO spawned: 'vnc' with pid 898
2025-05-17 21:37:32,363 INFO success: vnc entered RUNNING state, process has stayed up for > than 1 seconds (startsecs)
2025-05-17 21:37:34,096 INFO exited: vnc (exit status 255; not expected)
2025-05-17 21:37:35,107 INFO spawned: 'vnc' with pid 1115
2025-05-17 21:37:36,644 INFO success: vnc entered RUNNING state, process has stayed up for > than 1 seconds (startsecs)
2025-05-17 21:37:38,606 INFO exited: vnc (exit status 255; not expected)
2025-05-17 21:37:39,613 INFO spawned: 'vnc' with pid 1325
2025-05-17 21:37:41,157 INFO success: vnc entered RUNNING state, process has stayed up for > than 1 seconds (startsecs)
2025-05-17 21:37:42,941 INFO exited: vnc (exit status 255; not expected)
2025-05-17 21:37:43,949 INFO spawned: 'vnc' with pid 1503
^C2025-05-17 21:37:45,491 INFO success: vnc entered RUNNING state, process has stayed up for > than 1 seconds (startsecs)
2025-05-17 21:37:45,491 WARN received SIGINT indicating exit request
2025-05-17 21:37:45,491 INFO waiting for novnc, vnc to die
2025-05-17 21:37:46,495 INFO stopped: vnc (terminated by SIGTERM)
2025-05-17 21:37:46,531 INFO stopped: novnc (exit status 0)
docker pull tiryoh/ros2-desktop-vnc:humble
docker run -it -p 6080:80 -p 9090:9090 -p 9876:9876 --name pai_ros2 tiryoh/ros2-desktop-vnc:humble
http://localhost:6080/
にアクセス
Terminatorを開く(開かない場合,左上の Menu
→ 検索ボックスで terminal
などと検索し, Mate Terminal
か XTerm
を開く)
以下を順に実行
mkdir -p ~/ros2_ws/src && cd ~/ros2_ws/src
git clone -b humble <https://github.com/rt-net/crane_plus.git>
sudo apt-get update
# Add the OSRF Gazebo repository (for Ignition / Gazebo 6 / Fortress, etc.)
sudo sh -c 'echo "deb <http://packages.osrfoundation.org/gazebo/ubuntu-stable> jammy main" > /etc/apt/sources.list.d/gazebo-stable.list'
wget <https://packages.osrfoundation.org/gazebo.key> -O - | sudo apt-key add -
sudo apt-get update
## Install Ignition Fortress and ros_gz_sim Packages
sudo apt-get install -y \\
ignition-fortress \\
ros-humble-ros-gz-sim \\
ros-humble-ros-gz-bridge \\
ros-humble-gz-ros2-control \\
ros-humble-gazebo-msgs
cd ~/ros2_ws
rosdep install -r -y -i --ignore-src --from-paths src --skip-keys "gazebo_ros2_control" --skip-keys "ros-humble-gazebo-dev"
colcon build --symlink-install
source install/setup.bash
echo 'source ~/ros2_ws/install/setup.bash' >> ~/.bashrc
# 以降 source ~/.bashrc でOK
# Launch Gazebo & rviz
ros2 launch crane_plus_gazebo crane_plus_with_table.launch.py
GazeboとRVizが立ち上がり,以下のような画面が表示されれば演習の環境構築完了