Apple Silicon（ARM64アーキテクチャ）のMacでDockerを使ってROS2を動かす場合、最大の壁となるのがRViz2やGazeboといったGUI（画面）ツールの表示です。
そこでブラウザ経由でアクセスできる仮想デスクトップ（Web VNC）入りのDockerイメージを使用することによりMac側のグラフィック設定に悩まされることなく、SafariやChromeからGUIを操作できます。
また、今回はDocker Desktopの代わりに軽量でオープンソースのColimaを利用してROS2 Jazzyの学習環境を構築します。
ColimaはバックグラウンドでDockerエンジンを動かすためのツールです。Docker Desktopのようにライセンスの懸念がなく、Apple Silicon（M4）の仮想化フレームワーク（VZ）を活用することで、非常に高速かつ軽量に動作するのが特徴です。
ColimaとDocker CLIのインストール
まずはMacにColimaと、Dockerを操作するためのコマンドラインツール（CLI）をインストールします。パッケージ管理ツール「Homebrew」を使用します。
ターミナルを開き、以下のコマンドを実行してください。
Homebrewで必要なツールを一括インストール
brew install colima docker docker-compose
実行後に以下のようなメッセージが出たので設定ファイルを変更していきます。
(省略)
Removing: /Users/nomura.toshiaki/Library/Logs/Homebrew/gnutls... (64B)
==> Caveats
zsh completions have been installed to:
/opt/homebrew/share/zsh/site-functions
==> colima
To start colima now and restart at login:
brew services start colima
Or, if you don't want/need a background service you can just run:
/opt/homebrew/opt/colima/bin/colima start -f
==> docker-compose
Compose is a Docker plugin. For Docker to find the plugin, add "cliPluginsExtraDirs" to ~/.docker/config.json:
"cliPluginsExtraDirs": [
"/opt/homebrew/lib/docker/cli-plugins"
]
Dockerコマンドが docker-compose プラグインを見つけられるように、設定ファイル（config.json）を少し書き換える（または作成する）必要があります。
~/.docker/フォルダがなければ設定ファイルを置くフォルダを作成する。
mkdir -p ~/.docker
設定ファイルに追記する。
cat <<EOF > ~/.docker/config.json
{
"cliPluginsExtraDirs": [
"/opt/homebrew/lib/docker/cli-plugins"
]
}
EOF
Colimaの起動（ROS 2・シミュレータ向け設定）
Gazebo（3Dシミュレータ）やRViz2を動かすには、ある程度のCPUとメモリが必要です。
また、Macの性能を引き出すためにApple純正の仮想化フレームワーク（VZ）を指定してColimaを起動します。
CPU 4コア、メモリ 8GB を割り当て、VZフレームワークを使用して起動
colima start --cpu 4 --memory 8 --vm-type vz
--vm-type vzオプションを使うには、macOS 13.0 (Ventura) 以降が必要です。
実行結果
INFO[0002] starting colima
INFO[0002] runtime: docker
INFO[0005] starting ... context=vm
INFO[0034] provisioning ... context=docker
INFO[0037] starting ... context=docker
INFO[0038] done
※初回の起動には少し時間がかかります。起動が完了すると、以降は標準の docker コマンドがそのまま使えるようになります。
環境構築ファイルの準備
任意の作業用フォルダ（例：ros2_jazzy_learning）を作成し、その中に以下の2つのファイルを作成します。
mkdir -p ros2_jazzy_learning
cd ros2_jazzy_learning
Dockerfile
vi Dockerfile
Dockerfile
# ROS 2 Jazzy + Web VNCのベースイメージ（ARM64対応）
FROM tiryoh/ros2-desktop-vnc:jazzy
# パッケージリストの更新と、学習に必要なROS 2ツールのインストール
# 注: Jazzyでは従来のGazebo Classicではなく、新しい「Gazebo (Harmonic)」を使用します
RUN sudo apt-get update && sudo apt-get install -y \
ros-jazzy-turtlesim \
ros-jazzy-rviz2 \
ros-jazzy-ros-gz \
ros-jazzy-slam-toolbox \
ros-jazzy-xacro \
ros-jazzy-joint-state-publisher-gui \
&& sudo rm -rf /var/lib/apt/lists/*
# コンテナ起動時のデフォルトディレクトリをワークスペースに設定
WORKDIR /home/ubuntu/ros2_ws
docker-compose.yml
vi docker-compose.yml
docker-compose.yml
version: '3.8'
services:
ros2-jazzy-vnc:
build: .
container_name: ros2_jazzy_dev
# Webブラウザからアクセスするためのポート設定
ports:
- "6080:80"
# Macの ./src フォルダとコンテナ内の src フォルダを共有
volumes:
- ./src:/home/ubuntu/ros2_ws/src
# Gazeboなどのシミュレータがメモリ不足で落ちないように拡張
shm_size: '2gb'
コンテナの起動とアクセス
Colimaが動いている状態であれば、あとは通常のDockerと同じ操作です。
上記のファイルを作成したディレクトリで以下のコマンドを実行します。
コンテナの起動
docker compose up -d
※初回はイメージのダウンロードが行われるため数分かかります。
実行ログ
WARN[0000] /Users/nomura.toshiaki/ros2_jazzy_learning/docker-compose.yml: the attribute `version` is obsolete, it will be ignored, please remove it to avoid potential confusion
WARN[0000] Docker Compose requires buildx plugin to be installed
Sending build context to Docker daemon 884B
Step 1/4 : FROM tiryoh/ros2-desktop-vnc:jazzy
jazzy: Pulling from tiryoh/ros2-desktop-vnc
97dd3f0ce510: Pull complete
8c699f55cb1b: Pull complete
0f1a50253a16: Pull complete
0dffdb9d559c: Pull complete
f9b3d683f531: Pull complete
cd4f8c5c33a1: Pull complete
b4d5e38a60ae: Pull complete
bb755a3edfbb: Pull complete
13201a28f969: Pull complete
e0cb45cae4d2: Pull complete
b93a980bcde5: Pull complete
c2e072597549: Pull complete
fd52c699c0e7: Pull complete
3f262e43c94d: Pull complete
8d3658214874: Pull complete
89d49df65a8b: Pull complete
188450ae2ce6: Pull complete
Digest: sha256:c7f80b1d9b77d6f9c76cfe1114c3d030a5146982c8c56d10d1e99717cb0c99a6
Status: Downloaded newer image for tiryoh/ros2-desktop-vnc:jazzy
---> c7f80b1d9b77
Step 2/4 : RUN sudo apt-get update && sudo apt-get install -y ros-jazzy-turtlesim ros-jazzy-rviz2 ros-jazzy-ros-gz ros-jazzy-slam-toolbox ros-jazzy-xacro ros-jazzy-joint-state-publisher-gui && sudo rm -rf /var/lib/apt/lists/*
---> Running in 98b06e4e0eca
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Fetched 66.6 MB in 25s (2706 kB/s)
Reading package lists...
Reading package lists...
Building dependency tree...
Reading state information...
ros-jazzy-turtlesim is already the newest version (1.8.3-1noble.20260124.213634).
ros-jazzy-turtlesim set to manually installed.
ros-jazzy-rviz2 is already the newest version (14.1.19-1noble.20260125.014906).
ros-jazzy-rviz2 set to manually installed.
ros-jazzy-ros-gz is already the newest version (1.0.18-1noble.20260125.021522).
ros-jazzy-xacro is already the newest version (2.1.1-1noble.20260122.153657).
ros-jazzy-xacro set to manually installed.
The following additional packages will be installed:
libamd3 libbtf2 libcamd3 libccolamd3 libceres-dev libceres4t64 libcholmod5
libcxsparse4 libgoogle-glog-dev libgoogle-glog0v6t64 libgraphblas-dev
libgraphblas7 libklu2 libldl3 libparu0 librbio4 libspex2 libspqr4
libsuitesparse-dev libsuitesparse-mongoose3 libumfpack6 ros-jazzy-bond
ros-jazzy-bondcpp ros-jazzy-joint-state-publisher ros-jazzy-smclib
The following NEW packages will be installed:
libamd3 libbtf2 libcamd3 libccolamd3 libceres-dev libceres4t64 libcholmod5
libcxsparse4 libgoogle-glog-dev libgoogle-glog0v6t64 libgraphblas-dev
libgraphblas7 libklu2 libldl3 libparu0 librbio4 libspex2 libspqr4
libsuitesparse-dev libsuitesparse-mongoose3 libumfpack6 ros-jazzy-bond
ros-jazzy-bondcpp ros-jazzy-joint-state-publisher
ros-jazzy-joint-state-publisher-gui ros-jazzy-slam-toolbox ros-jazzy-smclib
0 upgraded, 27 newly installed, 0 to remove and 0 not upgraded.
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debconf: delaying package configuration, since apt-utils is not installed
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ブラウザでアクセス
起動が完了したら、Macのブラウザ（SafariやChrome）を開き、以下のアドレスにアクセスします。
http://localhost:6080/
接続ボタンを押すと、画面上にUbuntuのデスクトップ画面が表示されます。
Terminatorのアイコンをクリックして、ターミナルを起動します。
学習ツール別の確認・実行コマンド
ブラウザ上のターミナル（QTerminal）で以下を実行し、動作を確認してみてください。
基本操作の学習
ros2 run turtlesim turtlesim_node
データの可視化
rviz2
3Dシミュレータ / Harmonic
gz sim
最初に起動すると以下のダイアログが表示されますので、Don't show this dialog againにチェックを入れてダイアログを閉じます。
Gazebo Simが起動します。
終了手順
学習が終わってリソースを開放する際は、以下の順番で終了させるとMacのバッテリーやメモリに優しいです。
ubuntuのシャットダウンなどは必要ありません。使っていたブラウザのページを閉じるだけです。
コンテナを停止・削除する（作成したsrc内のファイルはMacに残ります）
docker compose down
Colimaの仮想マシンを停止する
colima stop
次回学習を再開するときは、colima start で仮想マシンを起動してから docker compose up -d を実行すればOKです（設定したCPUやメモリの割り当ては記憶されています）。
【普段の学習の流れまとめ】
- 始めるとき:
colima start... ➡docker compose up -d➡ ブラウザを開く - ちょっと休憩: ブラウザを閉じるだけ（いつでも再開可能）
- 今日の学習を終えるとき: ブラウザを閉じる ➡
docker compose down➡colima stop
Colimaを利用することで、Docker Desktopのライセンスやバックグラウンドでの重たい動作を気にすることなく、サクサクとROS 2の開発が進められるはずです。