Ros2 galactic docker unable to store files

Hi I’m having an issue running the docker image for ROS2 Galactic on my Jetson Nano 4GB, Model B01, running Jetpack-SDK-4.6.3 (after upgrading from 4.6.1)

Here are the steps taken so far:

  1. create directory
  2. copied shell script from repo (GitHub - dusty-nv/jetson-containers: Machine Learning Containers for NVIDIA Jetson and JetPack-L4T)
  3. modify to use the right tag: CONTAINER_IMAGE=“dustynv/ros:galactic-pytorch-l4t-r32.7.1”
  4. save and make it executable: chmod 755
  5. run it ./

Any changes made within are not retained.
I also get a warning message, but still continues

xhost:  unable to open display ""
xauth:  file /home/administrator/.Xauthority does not exist
xauth: (argv):1:  unable to read any entries from file "(stdin)"

Then I tried to install ros2 galactic, following the steps in the ros documentation. And just to note I have installed ROS (1+2) on about 12 machines so far and never had as many issues. I had to abandon the idea of installing it and reverted back to using Docker.

Please someone, give me a more detailed list of steps, og how I’m supposed to use the ros2-galactic-docker ?

Also pulling images from docker hub and then trying to compile using scripts and commands from the repo mentioned above just plain out fails, as I have updated minor release and am now on R32.7.3 and then it complains it can’t find it. I was able to override the variable in the shell-script, that looks the L4T info up, but it still didn’t proceed.
That was scripts/

Please anyone, I’m stuck

Hi @andrew.cra2019, it is normal/expected for changes that you make in a container to be lost after the container is shutdown. There are several ways to make persistent changes:

  • remove the --rm flag from scripts/
    this will make it so that the container is ‘persistent’ and not removed after you exit it. you can then re-connect a terminal to the container with the docker attach command

  • use the docker commit command to save the updated container image to a new tag. you would then run that new tag when you start the container again, instead of the original tag.

  • create your own Dockerfile which uses the original container as it’s base image, and apply your customizations/changes in the Dockerfile, and then build your new container using docker build

  • mount your external projects/assets into the container from the host device (see the --volume argument to

The issue was probably that Galactic expects Ubuntu 20.04 if I recall correctly, and the Nano is on Ubuntu 18.04. In theory you could build Galactic from source following similar steps to what I do in the container, but I find using the containers a cleaner way to keep the build environment self-contained and also distributable to other Jetson devices. I’ve not found an easy way to build the ROS2 debian packages themselves.

Thank you very much @dusty_nv for your reply and all the great work!

Will get to try the suggestions soon

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