`由于有多个From，在我的docker容器中找不到bash:webots:command`_Docker_Dockerfile_Webots

`由于有多个From，在我的docker容器中找不到bash:webots:command`

docker

`由于有多个From，在我的docker容器中找不到bash:webots:command`,docker,dockerfile,webots,Docker,Dockerfile,Webots,我有一个安装了Webots和ROS2的docker容器。但是，在容器内运行webots会返回bash:webots:command not found。为什么? 运行webots（但不运行ROS2）的容器这里有一个从运行的容器，确实成功运行了webots（但缺少我需要的ROS2）： $xhost+local:root>/dev/null 2>&1，所以webots不会说无法加载Qt平台插件“xcb” $docker run-it-e DISPLAY-v/tmp/.X11 unix:/tmp/.

我有一个安装了Webots和ROS2的docker容器。但是，在容器内运行

webots

会返回

bash:webots:command not found

。为什么?

运行

webots

（但不运行ROS2）的容器这里有一个从运行的容器，确实成功运行了
webots
（但缺少我需要的ROS2）：

$xhost+local:root>/dev/null 2>&1，所以webots不会说无法加载Qt平台插件“xcb” $docker run-it-e DISPLAY-v/tmp/.X11 unix:/tmp/.X11 unix:rw-cyberbotics/webots:R2021a-ubuntu20.04
不运行
webots的容器这是我的docker容器，它没有成功运行webots ，而是说bash:webots:command NOT found 。但是，它确实成功地运行了（我认为问题与我如何从两个容器继承有关，因为如果我从
语句中交换两个
ARG
和
的顺序，webots 被找到了，但ros2 没有。不过我不确定解决方案）： Dockerfile launch.sh（用于启动docker容器）总结如您所见，两个容器都使用cyberbotics/webots:R2021a-ubuntu20.04 ，第二个容器使用第一个容器的所有选项，但有一些额外的选项。为什么第一个容器成功运行了webots ，而第二个容器却找不到该命令？当您有多个FROM 命令时，您并没有将它们的两个内容“继承”到同一个映像中，而是在执行一个操作。这允许您指定--from 选项，从该阶段复制。默认情况下，Dockerfile中的最后一个阶段将是目标（因此，在您的示例中，您实际上只使用ros2映像。webots映像在那里没有实际使用这里有两个选项：使用Copy--from=base 这可能很难做到，也很挑剔。您需要复制所有依赖项；如果它们是通过您的包管理器（apt get）获取的，则会使dpkg的本地数据库不一致复制一个Dockerfile s，并将其从只要它们使用相同的基本发行版，这可能会很好。您可以进入项目的一个存储库，获取它们的Dockerfile ，从另一个映像重建它-只需更改，例如，cyberbotics/webots:R2021a-ubuntu20.04 的Dockerfile，即可从Niurver/ros2\u foxy:latest获得ode>。这可能需要修改那里的其他命令。我最终使用了莱昂纳多·达尼诺的建议，并且成功了。我不得不复制几个连续的ROS2容器的内容，以使树层次结构脱离webots基础图像，但它让我达到了我的目的。为了繁荣，这里有一个完整的新Dockerfile： # Use Webots docker container as base ARG BASE_IMAGE_WEBOTS=cyberbotics/webots:R2021a-ubuntu20.04 FROM $BASE_IMAGE_WEBOTS AS base # ================================================================================== # niurover/ros2_foxy uses osrf/ros:foxy-desktop as its base, so I need to add code from # container heirarchy all the way back to where it can stem off of `base` from above # ================================================================================== # ---------------------------------------------------------------------------------- # taken from Dockerfile for ros:foxy-ros-core-focal found at: # https://github.com/osrf/docker_images/blob/master/ros/foxy/ubuntu/focal/ros-core/Dockerfile # ---------------------------------------------------------------------------------- ## setup timezone # NOTE commented out since timezone should already be set up #RUN echo 'Etc/UTC' > /etc/timezone && \ # ln -s /usr/share/zoneinfo/Etc/UTC /etc/localtime && \ # apt-get update && \ # apt-get install -q -y --no-install-recommends tzdata && \ # rm -rf /var/lib/apt/lists/* # install packages RUN apt-get update && apt-get install -q -y --no-install-recommends \ dirmngr \ gnupg2 \ && rm -rf /var/lib/apt/lists/* # setup keys RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 # setup sources.list RUN echo "deb http://packages.ros.org/ros2/ubuntu focal main" > /etc/apt/sources.list.d/ros2-latest.list # setup environment ENV LANG C.UTF-8 ENV LC_ALL C.UTF-8 ENV ROS_DISTRO foxy # install ros2 packages RUN apt-get update && apt-get install -y --no-install-recommends \ ros-foxy-ros-core=0.9.2-1* \ && rm -rf /var/lib/apt/lists/* ## setup entrypoint # NOTE ignore this part of their Dockerfile #COPY ./ros_entrypoint.sh / # #ENTRYPOINT ["/ros_entrypoint.sh"] #CMD ["bash"] # ---------------------------------------------------------------------------------- # taken from Dockerfile for ros:foxy-ros-base-focal found at: # https://github.com/osrf/docker_images/blob/master/ros/foxy/ubuntu/focal/ros-base/Dockerfile # ---------------------------------------------------------------------------------- # install bootstrap tools RUN apt-get update && apt-get install --no-install-recommends -y \ build-essential \ git \ python3-colcon-common-extensions \ python3-colcon-mixin \ python3-rosdep \ python3-vcstool \ && rm -rf /var/lib/apt/lists/* # bootstrap rosdep RUN rosdep init && \ rosdep update --rosdistro $ROS_DISTRO # setup colcon mixin and metadata RUN colcon mixin add default \ https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml && \ colcon mixin update && \ colcon metadata add default \ https://raw.githubusercontent.com/colcon/colcon-metadata-repository/master/index.yaml && \ colcon metadata update # install ros2 packages RUN apt-get update && apt-get install -y --no-install-recommends \ ros-foxy-ros-base=0.9.2-1* \ && rm -rf /var/lib/apt/lists/* # ---------------------------------------------------------------------------------- # taken from Dockerfile for osrf/ros:foxy-desktop-focal (or is it osrf/ros:foxy-desktop?) found at: # https://github.com/osrf/docker_images/blob/master/ros/foxy/ubuntu/focal/desktop/Dockerfile # ---------------------------------------------------------------------------------- # This is an auto generated Dockerfile for ros:desktop # generated from docker_images_ros2/create_ros_image.Dockerfile.em #FROM ros:foxy-ros-base-focal # NOTE commented out since satisfied by above # install ros2 packages RUN apt-get update && apt-get install -y --no-install-recommends \ ros-foxy-desktop=0.9.2-1* \ && rm -rf /var/lib/apt/lists/* # ---------------------------------------------------------------------------------- # taken from Dockerfile for niurover/ros2_foxy found at: # https://github.com/NIURoverTeam/Dockerfiles/blob/master/ros2_foxy/Dockerfile # ---------------------------------------------------------------------------------- #ARG BASE_IMAGE=osrf/ros:foxy-desktop # NOTE commented out since satisfied by above # Install work packages #FROM $BASE_IMAGE as base # NOTE commented out since satisfied by above RUN apt-get update && apt-get upgrade -y && apt-get install -y \ tmux \ curl \ wget \ vim \ sudo \ unzip \ python3-pip \ && apt-get clean \ && rm -rf /var/lib/apt/lists/* # Install ROS Packages RUN apt-get update && apt-get install -y \ ros-foxy-turtlesim \ ~nros-foxy-rqt* \ ros-foxy-teleop-tools \ ros-foxy-joy-linux \ && apt-get clean \ && rm -rf /var/lib/apt/lists/* RUN pip3 install pyserial #CMD ["bash"] # NOTE ignore this part of the Dockerfile # ---------------------------------------------------------------------------------- # new stuff added on top of niurover/ros2_foxy to assist with Webots + ROS2 # ---------------------------------------------------------------------------------- # resolve a missing dependency for webots demo RUN apt-get update && apt-get install -y \ libxtst6 \ && apt-get clean \ && rm -rf /var/lib/apt/lists/* # Finally open a bash command to let the user interact CMD ["/bin/bash"] 您是否设置了WEBOTS\u HOME 环境变量？您是否尝试使用/usr/local/WEBOTS/WEBOTS 启动WEBOTS？@OlivierMichel/usr/local/WEBOTS/ 没有这样的文件或目录，并且导出WEBOTS\u HOME=/usr/local/WEBOTS 没有多大帮助。我认为这个问题与我是如何从两个容器。如果我交换我的两个ARG 和FROM 语句的顺序，webots 被找到，但是ros2 没有。我会将此信息添加到帖子中。谢谢你的评论。我同意选项1似乎很挑剔。至于选项2，有没有办法不重复代码？我有纽罗孚/ros2\u foxy的Dockerfile文件，但我不愿意只复制粘贴内容并为自己制造可维护性问题。有什么方法可以避免这种情况吗？可能是docker compose或一些bash技巧（修改ARG）？老实说，我想不出一个好办法。你可以做一些像sed s/FROM/FROM-cyberbotics/webots:R2021a-ubuntu20.04/，但这不包括除了更改基本映像之外你可能需要做的任何其他更改。对我来说，复制dockerfile看起来是最简单的选择。我最终选择了你的选项2和它起作用了。我不得不在ROS2依赖关系树上做一些调整，以使基本发行版对齐，但它完成了工作。如果您想查看完整的Dockerfile，我将它放在单独的答案中，并接受了您的答案。感谢您的帮助！ #! /bin/bash CONTAINER_USER=$USER CONTAINER_NAME=webots_ros2_foxy USER_ID=$UID IMAGE=niurover/webots_ros2_foxy:latest if [ $(uname -r | sed -n 's/.*$ *Microsoft *$.*/\1/ip') ]; then xhost +local:$CONTAINER_USER xhost +local:root fi sudo docker run -it --rm \ --name $CONTAINER_NAME \ --user=$USER_ID\ --env="DISPLAY" \ --env="CONTAINER_NAME=$CONTAINER_NAME" \ --workdir="/home/$CONTAINER_USER" \ --volume="/home/$CONTAINER_USER:/home/$CONTAINER_USER" \ --volume="/etc/group:/etc/group:ro" \ --volume="/etc/passwd:/etc/passwd:ro" \ --volume="/etc/shadow:/etc/shadow:ro" \ --volume="/etc/sudoers.d:/etc/sudoers.d:ro" \ --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \ $IMAGE bash\ if [ $(uname -r | sed -n 's/.*$ *Microsoft *$.*/\1/ip') ]; then xhost -local:$CONTAINER_USER xhost -local:root fi # Use Webots docker container as base ARG BASE_IMAGE_WEBOTS=cyberbotics/webots:R2021a-ubuntu20.04 FROM $BASE_IMAGE_WEBOTS AS base # ================================================================================== # niurover/ros2_foxy uses osrf/ros:foxy-desktop as its base, so I need to add code from # container heirarchy all the way back to where it can stem off of `base` from above # ================================================================================== # ---------------------------------------------------------------------------------- # taken from Dockerfile for ros:foxy-ros-core-focal found at: # https://github.com/osrf/docker_images/blob/master/ros/foxy/ubuntu/focal/ros-core/Dockerfile # ---------------------------------------------------------------------------------- ## setup timezone # NOTE commented out since timezone should already be set up #RUN echo 'Etc/UTC' > /etc/timezone && \ # ln -s /usr/share/zoneinfo/Etc/UTC /etc/localtime && \ # apt-get update && \ # apt-get install -q -y --no-install-recommends tzdata && \ # rm -rf /var/lib/apt/lists/* # install packages RUN apt-get update && apt-get install -q -y --no-install-recommends \ dirmngr \ gnupg2 \ && rm -rf /var/lib/apt/lists/* # setup keys RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 # setup sources.list RUN echo "deb http://packages.ros.org/ros2/ubuntu focal main" > /etc/apt/sources.list.d/ros2-latest.list # setup environment ENV LANG C.UTF-8 ENV LC_ALL C.UTF-8 ENV ROS_DISTRO foxy # install ros2 packages RUN apt-get update && apt-get install -y --no-install-recommends \ ros-foxy-ros-core=0.9.2-1* \ && rm -rf /var/lib/apt/lists/* ## setup entrypoint # NOTE ignore this part of their Dockerfile #COPY ./ros_entrypoint.sh / # #ENTRYPOINT ["/ros_entrypoint.sh"] #CMD ["bash"] # ---------------------------------------------------------------------------------- # taken from Dockerfile for ros:foxy-ros-base-focal found at: # https://github.com/osrf/docker_images/blob/master/ros/foxy/ubuntu/focal/ros-base/Dockerfile # ---------------------------------------------------------------------------------- # install bootstrap tools RUN apt-get update && apt-get install --no-install-recommends -y \ build-essential \ git \ python3-colcon-common-extensions \ python3-colcon-mixin \ python3-rosdep \ python3-vcstool \ && rm -rf /var/lib/apt/lists/* # bootstrap rosdep RUN rosdep init && \ rosdep update --rosdistro $ROS_DISTRO # setup colcon mixin and metadata RUN colcon mixin add default \ https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml && \ colcon mixin update && \ colcon metadata add default \ https://raw.githubusercontent.com/colcon/colcon-metadata-repository/master/index.yaml && \ colcon metadata update # install ros2 packages RUN apt-get update && apt-get install -y --no-install-recommends \ ros-foxy-ros-base=0.9.2-1* \ && rm -rf /var/lib/apt/lists/* # ---------------------------------------------------------------------------------- # taken from Dockerfile for osrf/ros:foxy-desktop-focal (or is it osrf/ros:foxy-desktop?) found at: # https://github.com/osrf/docker_images/blob/master/ros/foxy/ubuntu/focal/desktop/Dockerfile # ---------------------------------------------------------------------------------- # This is an auto generated Dockerfile for ros:desktop # generated from docker_images_ros2/create_ros_image.Dockerfile.em #FROM ros:foxy-ros-base-focal # NOTE commented out since satisfied by above # install ros2 packages RUN apt-get update && apt-get install -y --no-install-recommends \ ros-foxy-desktop=0.9.2-1* \ && rm -rf /var/lib/apt/lists/* # ---------------------------------------------------------------------------------- # taken from Dockerfile for niurover/ros2_foxy found at: # https://github.com/NIURoverTeam/Dockerfiles/blob/master/ros2_foxy/Dockerfile # ---------------------------------------------------------------------------------- #ARG BASE_IMAGE=osrf/ros:foxy-desktop # NOTE commented out since satisfied by above # Install work packages #FROM $BASE_IMAGE as base # NOTE commented out since satisfied by above RUN apt-get update && apt-get upgrade -y && apt-get install -y \ tmux \ curl \ wget \ vim \ sudo \ unzip \ python3-pip \ && apt-get clean \ && rm -rf /var/lib/apt/lists/* # Install ROS Packages RUN apt-get update && apt-get install -y \ ros-foxy-turtlesim \ ~nros-foxy-rqt* \ ros-foxy-teleop-tools \ ros-foxy-joy-linux \ && apt-get clean \ && rm -rf /var/lib/apt/lists/* RUN pip3 install pyserial #CMD ["bash"] # NOTE ignore this part of the Dockerfile # ---------------------------------------------------------------------------------- # new stuff added on top of niurover/ros2_foxy to assist with Webots + ROS2 # ---------------------------------------------------------------------------------- # resolve a missing dependency for webots demo RUN apt-get update && apt-get install -y \ libxtst6 \ && apt-get clean \ && rm -rf /var/lib/apt/lists/* # Finally open a bash command to let the user interact CMD ["/bin/bash"]