Install_DockerROS2Humble

	This documents is to use Docker with ros2 

Good resume of what is Docker: It's to solved the "it's working on my machine" problem. Like virtualbox

Install official Docker:

	#if you have install an unofficial docker (ex: docker.io) please uninstall it with this command: for pkg in docker.io docker-doc docker-compose docker-compose-v2 podman-docker containerd runc; do sudo apt-get remove $pkg; done
	
	sudo apt install gnome-terminal
	# Add Docker's official GPG key:
	sudo apt-get update
	sudo apt-get install ca-certificates curl gnupg
	sudo install -m 0755 -d /etc/apt/keyrings
	curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo gpg --dearmor -o /etc/apt/keyrings/docker.gpg
	sudo chmod a+r /etc/apt/keyrings/docker.gpg

	# Add the repository to Apt sources:
	echo \
	  "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/docker.gpg] https://download.docker.com/linux/ubuntu \
	  $(. /etc/os-release && echo "$VERSION_CODENAME") stable" | \
	  sudo tee /etc/apt/sources.list.d/docker.list > /dev/null
	sudo apt-get update
	#Download latest DEB package : https://desktop.docker.com/linux/main/amd64/docker-desktop-4.26.1-amd64.deb?utm_source=docker&utm_medium=webreferral&utm_campaign=docs-driven-download-linux-amd64&_gl=1*bvw20g*_ga*MTI1ODYzODIuMTcwNDg5OTkwNA..*_ga_XJWPQMJYHQ*MTcwNTQyNzM5Ny42LjEuMTcwNTQzMjc3Ny41NS4wLjA.
	sudo apt-get install ./docker-desktop-<version>-<arch>.deb
	#to login you must have a pass and active VMX on your BIOS : 
	gpg --generate-key
	pass init <yourkey>
	#install last docker package : sudo apt-get install docker-ce docker-ce-cli containerd.io docker-buildx-plugin docker-compose-plugin
	use Docker without sudo : 
	sudo groupadd docker
	sudo usermod -aG docker $USER
	newgrp docker
	#Verify that the Docker Engine installation is successful : sudo docker run hello-world
	service docker start
	docker ps
	docker images

Pull Ros2 Humble desktop image:
	docker pull osrf/ros:humble-desktop-full-jammy
	docker pull tiryoh/ros2-desktop-vnc:humble
	Without zerotier : docker run -it -p 6080:80 -v ~/documents/ros-docker --name Docker_humble_Rosie --security-opt seccomp=unconfined tiryoh/ros2-desktop-vnc:humble 
	with zerotier : docker run -it --cap-add=NET_ADMIN --cap-add=SYS_ADMIN --device=/dev/net/tun -p 6080:80 -v ~/documents/ros-docker --name Docker_humble_Rosie_WithZerotier --security-opt seccomp=unconfined tiryoh/ros2-desktop-vnc:humble 
	# -it = interactif terminal
	# Go to a webpage and write this link: http://localhost:6080/
	# To know the version of ros : ls -lh /opt/ros/
	
Commit : 
	sudo docker ps
	#take ID of your container
	sudo docker commit <ID>  <Repository:Tag>
	#Now you can see it : sudo docker images
	sudo docker save -o <path>/<NameYouWouldLike>.tar <Repository:Tag>
	#take the file to another machine
	sudo docker load -i <pathOnNewMachine>/<NameYouWouldLike>.tar 
	#Now you can see it on new machine: sudo docker images
START with ID:
	docker exec -it test /bin/bash
	sudo docker ps -a #take ID of your container
	docker start <ID>
	docker attach <ID>