windows下docker 运行 ros2humble arm64

目前要想运行arm版ros humble 目前最好的解决方案是使用qemu模拟。
1.拉取 ubuntu22.04

docker pull ubuntu:22.04 --platform=arm64

2.安装小鱼ros2 humble

wget http://fishros.com/install -O fishros && . fishros

3.安装eqmu

docker run --rm --privileged multiarch/qemu-user-static:register

4.运行arm版humble

docker run --rm -it -v /usr/bin/qemu-aarch64-static:/usr/bin/qemu-aarch64-static {$镜像id$} /bin/bash -c "uname -m; exec /bin/bash"

5.使用docker-compose来运行
此处有两个生成方案
第一个是x86的，第二个是arm版本的，当我们使用vscode 进行远程开发的时候我们需要把相应的.vscode-server分别对应出来比如西面的docker-compose所示， 其中image: dd5d 是使用ubuntu22.04 并安装了humble的版本image。

version: '3.8'
services:
  robot-humble:
    build: .
    privileged: true
    devices:
      - /dev/ttyUSB0
    environment:
      - DISPLAY=host.docker.internal:0.0
    volumes:
      - ./modules:/usr/lib/modules
      - ./.vscode-server:/root/.vscode-server
      - ./ros2_ws:/root/ros2_ws
    ports:
      - 9090:9090
    tty: true
    command: /bin/bash
  robot-humble-arm:
    image: dd5d
    privileged: true
    devices:
      - "/dev/ttyUSB0:/dev/ttyUSB0"
    environment:
      - DISPLAY=host.docker.internal:0.0
    volumes:
      - /usr/bin/qemu-aarch64-static:/usr/bin/qemu-aarch64-static
      - ./modules:/usr/lib/modules
      - ./.vscode-server-arm:/root/.vscode-server
      - ./ros2_ws:/root/ros2_ws
    ports:
      - "9090:9090"
    tty: true
    command: ["/bin/bash", "-c", "uname -m; exec /bin/bash"]

Dockerfile内容为（这里是x86的）

FROM osrf/ros:humble-desktop-full-jammy

PS 下载.vscode-server
https://blog.csdn.net/qq_43623902/article/details/136258880

x86:
https://vscode.download.prss.microsoft.com/dbazure/download/stable/${commit_id}/vscode-server-linux-x64.tar.gz


arm:
https://vscode.download.prss.microsoft.com/dbazure/download/stable/${commit_id}/vscode-server-linux-arm64.tar.gz

并解压文件夹
/root/.vscode-server/bin/2fc07b811f760549dab9be9d2bedd06c51dfcb9a/下，内容大致为

LICENSE  bin  extensions  node  node_modules  out  package.json  product.json